Robot Interface

Transcription

1 Robot Interface

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3 TECHNICAL SPECIFICATIONS INTRODUCTION Field of application TECHNICAL OVERVIEW Mechanical design Modules CPU and memory Seriel channels Digital inputs Digital outputs Analog inputs Analog outputs Power supply Interrupt Switch settings External 24V DC supply APPENDIX A Connections on P FUNCTIONAL DESCRIPTION Digital outputs LED-indicators Analog inputs Analog outputs Serial channels DIP-switches Cable connection INSTALLATION Revisions Install place Connections Install in BDH Eproms for BDH-BOX INSTALLATION ADVICE Analog inputs Digital input signals C. Digital output signals D. Use of signals for PC Program RoboWeld SPARE PARTS FOR ROBOT-INTERFACE PRODUCTS APPENDIX B: PCB - outline

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5 TECHNICAL SPECIFICATIONS DIGITAL CHANNELS 20 digital inputs 24V Logic 4,5 kω 8 digital outputs 24V Logic Open collector 100 ma ANALOG CHANNELS 4 analog inputs 0-10V Precision 0,5% 2 analog outputs 0-10V Precision 0,5% 3 serial channels RS 232C 9600 baud Current supply Display Configuration Plug 24V AC 8 channels to status 4x8 Dip switch 50 POL SUB-D to digital and analog channels 9 POL SUB-D to serial channels Technical specifications 5

6 1. INTRODUCTION The ROBOT INTERFACE is a universal interface unit which can connect a variety of welding robots, welding power sources and general PC equipment. The ROBOT INTERFACE enables either a welding robot, PC or other control equipment to take control over the power source. In particular, the ROBOT INTERFACE can be used in a closed loop control system to control the welding power source parameters, for instance; welding current and voltage. The interconnection between welding robot and ROBOT INTERFACE is standard PLC look-a-like digital and analog signals. Interconnection to the PC equipment is RS232 serial communication. 1.1 FIELD OF APPLICATION Although the ROBOT INTERFACE is universal, the mechanical design is developed for direct fitting into the MIGATRONIC BDH 320 or the BDH 550 welding power source. In the following description the welding power source BDH 320 from MIGATRONIC is used as an example for connection. Introduction 1.6

7 2. TECHNICAL OVERVIEW 2.1 MECHANICAL DESIGN The ROBOT INTERFACE is a single board product, placed in a metal box inside the BDH 320 cabinet. (In the BDH 550 the robot interface is placed outside). From inside the box cables are connected to the power supply and the RS232 connection to the BDH 320 control computer. A 50 pin connector (SUB-D) is connected on the rear of the BDH 320 cabinet to make the connection to the welding robot. A 25 pin connector (SUB-D) is connected on the rear of the BDH 320 cabinet, connecting to the PC equipment. 2.2 MODULES The ROBOT INTERFACE is divided into the following modules CPU AND MEMORY The CPU used is the SIEMENS 80C515A, which is a single chip controller including RAM, digital I/O, 10 bit A/D converter, serial communication and watchdog. The amount of EPROM is 32 kbytes. As option there is the possibility for additional 8 kbytes of static RAM SERIAL CHANNELS The interface is equipped with three RS232 serial channels. The channels are not equipped with handshake signals (RDY, DTR etc). On the PCB the channels are marked with text; BOX, PC and AUX. The channel with text "BOX" is connected to the BDH-320 control computer. The channel with text "PC" can be connected to a PC with appropiate software. The serial channels are running at a baudrate of 9600 bit/sec. (standard) The channels are galvanical separated from the rest of the interface. Number of channels 3 Serial input/output RS232 standard, without handshake Plug Plug type 9-pole SUB-D Male Rin Input resistance (RXD) 110 Ω typ Rout Output resistance (TXD) 110 Ω typ Technical overview 2.7

8 DIGITAL INPUTS The interface has twenty 24 DC digital inputs The input is designed to be connected to a relay-contact output. There is no galvanical separation. The above applies to PCB ver1 and later. Connections are shown in appendix A. Number of channels 20 Normal digital input Vsupply Supply voltage V Vin high High input voltage 12 V min Vin low Low input voltage 4 V max Rinput Input resistance 4,3kΩ +/-10% ton Turn on time 1 ms max toff Turn off time 1 ms max Technical overview 2.8

9 The following applies for robot interfaces with PCB ver 0. The interface has 20 digital inputs, all inputs have a pull-up resistor for a 24V DC supply delivered from the welding robot. The input is designed to be connected to either a relay-contact or an open-collector transistor output. There is no galvanical separation. Connections are shown in appendix A. Number of channels 20 Digital input with pull-up to the supply voltage Vsupply Supply voltage V Vin high High input voltage 12 V min Vin low Low input voltage 4 V max Rpullup Pull-up resistance 3,3kΩ +/-5% Rinput Input resistance, without pull-up resistor 2,4kΩ +/-10% ton Turn on time 1 ms max toff Turn off time 1 ms max Technical overview 2.9

10 DIGITAL OUTPUTS The interface has 8 digital outputs, all outputs are open collector transistors. There is no galvanical separation. Connections are shown in appendix A. Number of channels 8 Digital output; transistor output, open collector Vsupply Supply voltage V Vout low Output low voltage 1 V max Iout leak Leak current in OFF 100 ua max Iout Output current, one channel 100 ma max Iout(8) Output current, 8 channels ton Turn on time 50 us max toff Turn off time, resistive load, 90% of Vsupply 50 us max Technical overview 2.10

11 ANALOG INPUTS The interface has 4 analog input channels. The channels are differential inputs. The input voltage range is 0 to 10V. The A/D converter is internal to the 80C515A CPU. The resolution is 10 bit of full scale input, and the accuracy is +/-0,5% of full scale input. Connections are shown in appendix A. Number of channels 4 Analog inputs; differential inputs. Vin Differential input voltage range 0-10 V Resolution Binary resolution of input signal 10 bit Accuracy Accuracy of full scale +/- 0,5 % FS Rin Input resistance 20 kω Vin max Maximal commonmode input voltage +/- 12 V Filter 1 LP 3 db frequence (1. order) 34 Hz +/- 15% Filter 2 LP 3 db frequence (1. order) 34 Hz +/- 15% Technical overview 2.11

12 ANALOG OUTPUTS The interface has 2 analog single ended output channels. The output voltage is 0 to 10V. The D/A converter used is a device from ANALOG DEVICES AD7237, which is a dual 12 bit converter with built-in reference. Only the 10 bit resolution is used, and the accuracy is +/- 0,5%. Connections are shown in appendix A. Number of channels 2 Analog output; single ended Vout Output voltage range 0-10 V Resolution Binary resolution of output signal 10 bit Accuracy Accuracy of full scale +/- 0,5 % FS Rout Output resistance 22 Ω max Rload Maximal load resistance 2 kω max Technical overview 2.12

13 POWER SUPPLY The interface is connected to a 24 V AC power supply, from inside the BDH- 320 cabinet. The supply is transformer isolated, followed by a rectifier and a linear regulator to supply 5V DC and two times 15V DC to the serial channels and to the analog circuit. Vin Input voltage range 24 V AC +/-10% Iin Power supply current 400mA max Ifuse Fuse size 2 A slow INTERRUPT One of the digital inputs is connected to the one of the interrupt inputs on the CPU. A jumper JP3 can be pulled off to remove the connection to the internal pull-up resistor. (Only on PCB ver 0). Also it is possible to decide the polarity of the interrupt signal via SW 4 contact # SWITCH SETTINGS The interface has a total of 32 on/off switches on the PCB. The interpretation of the switch settings is not yet fully specified. The primary functions of the switches will be to decide the polarity of the digital signals. Also, some control in production test will be carried out with these switches EXTERNAL 24 V DC SUPPLY The robot must supply the robot interface with a 24V DC supply. The interface uses this supply for its digital outputs and as an indication that the robot is connected. If no 24V DC supply is present, the interface will block the BDH. Technical overview 2.13

14 3. APPENDIX A. Connections on P0 (to the robot) Robot Robot- Interface USE NAME N# Welding voltage command signal ANAIN1 13 Ground for DACH1 ANAIN2 45 Wire speed designation signal ANAIN3 46 Ground for DACH2 ANAIN4 14 AUX CH3 ANAIN5 31 AUX CH3 ANAIN6 47 AUX CH4 ANAIN7 15 AUX CH5 ANAIN8 32 GROUND for CH1 to CH4 GND 29 Ready DO1 34 Arc generating detection signal DO2 2 Gas shortage detection signal DO3 19 Machine error DO4 35 Cooling water shortage det. sig. DO5 3 Main error DO6 20 Communication error DO7 36 Verification error DO8 4 Welding voltage detection signal ANOUT1 49 Ground for ADCH 1 GND 16 Welding current detection signal ANOUT2 50 Ground for ADCH 2 GND 17 GND 21 GND 24 GND 48 Welding start signal DIGIN20 44 Gas signal DIGIN19 28 Wire inching (positive) signal DIGIN18 11 Appendix A: 3.14

15 Load Data DIGIN17 43 Seem bit #5 DIGIN16 10 Seem bit #4 DIGIN15 42 Seem bit #3 DIGIN14 26 Seem bit #2 DIGIN13 9 Seem bit #1 DIGIN12 41 Seem bit #0 DIGIN11 25 Job bit #2 DIGIN10 8 Job bit #1 DIGIN9 40 Job bit #0 DIGIN8 7 Program bit #3 DIGIN7 39 Program bit #2 DIGIN6 23 Program bit #1 DIGIN5 6 Program bit #0 DIGIN4 38 Sequence bit #2 DIGIN3 22 Sequence bit #1 DIGIN2 5 Sequence bit #0 DIGIN VEXT 1 +24VEXT 18 Signals in inhanced text are input signals to the Robot Interface. Appendix A: 3.15

16 4. FUNCTIONAL DESCRIPTION ROBOT INTERFACE Digital inputs NB. HW1: Digital inputs are internally pulled high when not connected. (Only PCB ver. 0). HW2: Digital inputs are internally pulled low when not connected. Welding start, DIGIN20/Pin#44 Mirrors the torch trigger signal, ie. two-stroke, four-stroke and spot welding functions as with manual welding activation. Logically the robot trigging is coupled in parallel with the physical trigger on the torch. In this way, manual welding is still possible with the robotinterface installed. SW2.2 forces the welding machine into two-stroke trigging. SW4.8 sets the active level of this input. Gas on, DIGIN19/Pin#28 This input controls gas valve on/off directly. SW4.6 enables this input. SW4.7 sets the active level of this input. Wire inching, DIGIN18/Pin#11 When the welding machine is in MIG/MAG mode and idle, it is possible to forward inch the wire with a speed set on the amp/wire analog input (ANAIN3/Pin#46 and ANAIN4/Pin#14). Zero to 10 volts corresponds to 1 to 24 meters per minute. The gas valve is activated at the same time as the wire motor. SW4.5 sets the active level of this input. Functional description 4.16

17 Load data, DIGIN17/Pin#43 Handshake signal used in connection with the Ready output. It is handled by the PC verification system. SW4.4 sets the active level of this input. Seam number, DIGIN11-16/Pin#25 #41 #9 #26 #42 #10 The number (0 to 63) binary encoded on these inputs is forwarded to the PC (if connected and enabled) for use in the PC verification software. SW4.3 sets the active level of all 6 inputs. Job number, DIGIN8-10/Pin#7 #40 #8 The number (0 to 7) binary encoded on these inputs is forwarded to the PC (if connected and enabled) for use in the PC verification software. SW4.2 sets the active level of all 3 inputs. Program number, DIGIN4-7/Pin#38 #6 #23 #39 The number (0 to 9) binary encoded on these inputs selects the program (PROG) in the welding machine. SW3.7 enables this function. SW3.8 sets the active level of all 4 inputs. Functional description 4.17

18 Sequence number, DIGIN1-3/Pin#37 #5 #22 The number signals supplied to these inputs select the sequence number (SEQ) in the welding machine according to the following table: DIGIN3 DIGIN2 DIGIN1 Result ON ON ON Illegal input, if HW1 ON ON OFF SEQ = Off ON OFF ON SEQ = Off ON OFF OFF SEQ = 4 OFF ON ON SEQ = 3 OFF ON OFF SEQ = 2 OFF OFF ON SEQ = 1 OFF OFF OFF Illegal input, if HW1 SW3.5 enables this function. SW3.6 sets the active level of all 3 inputs. Functional description 4.18

19 DIGITAL OUTPUTS NB. The digital outputs are open at reset and power off. Ready, DO1/Pin#34 Handshake signal used in connection with the Load data input. It is controlled directly by the PC verification system. SW1.1 specifies if the output line is open or closed when activated. Arc detect, DO2/Pin#2 The operation of the arc detect output is set with SW3.1 and SW3.2. SW1.2 specifies if the output line is open or closed when activated. Gas/wire error, DO3/Pin#19 This error output indicates several possible errors combined: gas shortage (TIG and MIG/MAG), no wire in wire feed system and wire feed motor overloaded (MIG only). SW1.3 specifies if the output line is open or closed when activated. Machine error, DO4/Pin#35 This error output indicates several possible errors combined: too high or too low mains supply voltage, power module defect, power module overheat or communications error between the robot interface and the control box of the welding machine. SW1.4 specifies if the output line is open or closed when activated. Functional description 4.19

20 Water cooling error, DO5/Pin#3 This error output indicates too low water flow in the torch cooling system, if water cooling is enabled on the control box. SW1.5 specifies if the output line is open or closed when activated. Main error, DO6/Pin#20 A common error output activated when one of the three above-mentioned, specific (non- PC related) error outputs are activated. SW1.6 specifies if the output line is open or closed when activated. Communications error, DO7/Pin#36 This error output indicates an error in the connection to the PC, if PC verification is enabled with SW4.1. This output is activated when the communication on the cable between the robot interface and the PC is disturbed either by mechanical interruption of the line or electromagnetic noise influencing the signals. SW1.7 specifies if the output line is open or closed when activated. PC verification error, DO8/Pin#4 This output pin is controlled from the PC, and is used to indicate that the PC has detected a deviation from predefined tolerances in the welding. SW1.8 specifies if the output line is open or closed when activated. Functional description 4.20

21 LED INDICATORS RESET indicator: ON when robot interface is in reset state, either because the RESET button is pressed or the power supply voltage is too low. Error/status indicators: Positions: D61 D60 D57 D59 D62 D63 D56 D58 D61: Watchdog error. Lights up for two seconds after a watchdog reset in the CPU. A watchdog reset occurs after an excessively big noise impulse has disturbed the CPU so much that it has deviated from its normal program execution. If a watchdog reset is observed, actions need to be taken to lessen the electromagnetic disturbences on the robot interface. D62: Main error. Reflects the main error output pin and in addition failure in the 24V supply from the robot controller. D63: Machine error. Reflects the machine error output pin. D60: Gas/wire error. Reflects the gas/wire error output pin. D59: Water cooling error. Reflects the water cooling error output pin. D58: Box communications error. Lights up when the communication on the cable between the robot interface and the control box of the welding machine is disturbed either by mechanical interruption of the line or electromagnetic noise influencing the signals. If this indicator lights up repeatedly, actions need to be taken to lessen the electromagnetic disturbances on the robot interface. D57: PC communications error. Reflects the PC communications error output pin. If this indicator lights up repeatedly, actions need to be taken to lessen the electromagnetic disturbances on the PC link. D56: Interface disabled. This LED lights when the robot interface is disabled with SW2.3. Functional description 4.21

22 ANALOG INPUTS NB. When the robot interface is enabled with SW2.3, torch and remote control of the primary welding parameters are disabled. Wire speed/current control, ANAIN3 and ANAIN4/Pin#46 and Pin#14 SW3.3 enables this input. Which parameter this input controls, depends on the welding mode. MMA: 0 to 10 volts adjusts the current from 0 to 320 A. The lower limit on the current in MMA mode is 15A. MIG/MAG, Synergic: 0 to 10 volt maps to a current of 0 to 320 A, with the lower and upper limits determined by the synergic program. MIG/MAG, Manual: 0 to 10 volt maps to a wire speed of 0 to 24 m/min. The lower limit on wire speed is 1 m/min. TIG: 0 to 10 volt maps to a current of 0 to 320 A, with a lower limit of 5 A. Functional description 4.22

23 Volt/trim control, ANAIN1 and ANAIN2/Pin#13 and Pin#45 SW3.4 enables this input. Which parameter this input controls, depends on the welding mode. MMA: N/A. This input has no function. MIG/MAG, Synergic: 0 to 10 volt maps to a trim voltage of -9.9 to +9.9 V. That is 5 volt input = 0 volt trim. MIG/MAG, Manual: 0 to 10 volt maps to a welding voltage of 0 to 50 Volt. TIG: N/A. This input has no function. Auxiliary channel 3, ANAIN5 and ANAIN6/Pin#31 and Pin#47 At present this analog input channel has no function. Auxiliary channel 4, ANAIN7 and ANAIN8/Pin#15 and Pin#32 At present this analog input channel has no function. Functional description 4.23

24 ANALOG OUTPUTS Welding voltage, ANOUT1 and GND/Pin#49 and Pin#16 This output indicates the actual measured voltage while welding. In idle the output is 0 volt. Welding voltages from 0 to 50 V map to 0 to 10 V on this output. Welding current, ANOUT2 and GND/Pin#50 and Pin#17 This output indicates the actual measured current while welding. In idle the output is 0 volt. Welding currents from 0 to 400 A map to 0 to 10 V on this output. Box serial port SERIAL CHANNELS This serial port is used for the connection to the control box of the welding machine. The status indicator LED, marked D58, is alight when there is a communications error on this link. PC serial port The connector on the PCB is linked to the PC connector on the back-plate of the welding machine. AUX serial port At present this port has no function. Output port for a printer is a possible use in the future. Functional description 4.24

25 DIP SWITCHES NB. Only change the positions of the DIP switches while the machine is powered down. Some of the DIP switch positions only take effect when the machine is initializing. SW1.1 OFF: Ready output open when activated. ON: Ready output closed when activated. SW1.2 OFF: Arc detect output open when activated. ON: Arc detect output closed when activated. SW1.3 OFF: Gas/wire error output open when activated. ON: Gas/wire error output closed when activated. SW1.4 OFF: Machine error output open when activated. ON: Machine error output closed when activated. SW1.5 OFF: Water cooling error output open when activated. ON: Water cooling error output closed when activated. SW1.6 OFF: Main error output open when activated. ON: Main error output closed when activated. SW1.7 OFF: PC communications error output open when activated. ON: PC communications error output closed when activated. SW1.8 OFF: PC verification error output open when activated. ON: PC verification error output closed when activated. Functional description 4.25

26 SW2.1 SW2.2 SW2.3 OFF: Amp/wire and volt/trim are controlled by the welding machine during slope-down and burn-back. The robot interface samples the analog inputs for amp/wire and volt/trim when the start welding input is deactivated, and holds the values until the arc is out. ON: Amp/wire and volt/trim are controlled directly by the robot all the time. OFF: Forces the welding machine into 2-stroke trigging. ON: The trigger mode is selected on the control box of the welding machine with the TRIG button. OFF: Robot interface enabled. Status indicator D56 is turned off. ON: Robot interface disabled. The welding machine functions as a normal manual machine. The outputs of the robot interface are deactived. Status indicator D56 is turned on. SW3.1 SW3.2 SW3.1 Function SW3.2 OFF OFF Normal arc detect operation. The Arc detect output directly reflects the presence of the physical arc. OFF ON The arc detect output is activated simultaneously with the Start welding input. The arc detect output is deactivated after 500 ms if the physical arc is not established. ON OFF The arc detect output is activated simultaneously with the Start welding input. The arc detect output is deactivated after 2000 ms if the physical arc is not established. ON ON The arc detect output is permanently activated. Functional description 4.26

27 SW3.3 OFF: Amp/wire analog input enabled. ON: Amp/wire analog input disabled. SW3.4 OFF: Volt/trim analog input enabled. ON: Volt/trim analog input disabled. SW3.5 OFF: Control of sequence number disabled. ON: Control of sequence number enabled. SW3.6 OFF: Sequence number inputs active low. ON: Sequence number inputs active high. SW3.7 OFF: Control of program number disabled. ON: Control of program number enabled. SW3.8 OFF: Program number inputs active low. ON: Program number inputs active high. SW4.1 ON: PC verification disabled. Outputs DO1, DO7 and DO8 are permanently deactivated. LED D57 is permanently off. OFF: PC verification enabled. SW4.2 OFF: Job number inputs active low. ON: Job number inputs active high. SW4.3 OFF: Seam number inputs active low. ON: Seam number inputs active high. SW4.4 OFF: Load data input active low. ON: Load data input active high. SW4.5 OFF: Wire inching input active low. ON: Wire inching input active high. SW4.6 OFF: Gas valve not controlled from robot. ON: Gas valve controlled from robot. SW4.7 OFF: Gas on input active low. ON: Gas on input active high. SW4.8 OFF: Welding start input active low. ON: Welding start input active high. Functional description 4.27

28 Functional description 4.28 CABLE CONNECTION

29 Functional description 4.29

30 5. INSTALLATION GUIDE FOR ROBOT INTERFACE REVISIONS DATE CHANGES INIT draft JHM Note regarding analog inputs and control signals from robot Figures added; Ways of connection to the different signals. Handshake when using RoboWeld. Figures showing installation in machine JHM JHM Installation 5.30

31 5 INSTALLATION GUIDE This document describes the installation af the ROBOT INTERFACE box in a BDH 320/550 welding power source. If the robot interface has to be installed in an older BDH, the installation requires some mechanical prework: Drilling holes and removing the rod that holds the wire (MIG). The most recent BDH 320/550's are prepared for the robot interface. 5.1 INSTALL PLACE IN BDH 320 The ROBOT INTERFACE box can be placed in two different places in the BDH 320. The actual place depends on the type of BDH 320. If the BDH 320 contains an autotrafo (USA etc) the robot interface has to be placed between the auto trafo and the BDH computer box. See figure A. Pos. 1 = Pos. 2 = Pos. 3 = Pos. 4 = Fig A For BDH 320 without autotrafo, which is the normal situation, the robot interface is placed near the rear wall. See figure B. Pos. 1 = Pos. 2 = Pos. 3 = Pos. 4 = Fig B In both cases it is important that the wiring is done as illustrated on figures A and B. Installation 5.31

32 5.2 CONNECTIONS Connections to robot and PC are made on the back of the BDH cabinet (25 poled SUB-D plastic connector for PC, and 50 poled SUB-D connector for the robot). Figure C shows the place of the connectors on the rear of the cabinet. Fig C Connection to the power supply is done on the power connection header pin 8 and 9. See figure D. Fig D CHECK THAT THE SUPPLY VOLTAGE IS 24V AC. The ROBOT INTERFACE kits are supplied with the required cables etc. Installation 5.32

33 5.3 INSTALL IN BDH 550 In the BDH 550 the interface is placed at the rear of the BDH cabinet. Figur A shows the position seen from above. It is important that the wiring is done as illustrated on fig. A. Fig A Pos. 1 = Pos. 2 = Pos. 3 = Pos. 4 = Fig B Connection of the 24V AC supply is done as illustrated on figures A and C pin`s 9 and 10 on power connection header. Fig C Installation 5.33

34 5.4 EPROMS FOR BDH BOX In order for the Robot Interface to work, the existing EPROMS in the BDH box must be replaced with the INTERFACE EPROM pair. The INTERFACE EPROM pair is delivered with the ROBOT INTERFACE kit. See figure E for guidance of changing the EPROMS. On the front panel of the BDH box there is a label (bottom right hand corner). This label has to be removed and replaced with the one delivered with the robot interface kit. This is important, in service situations, to ensure that the correct BDH box is returned. Fig E Installation 5.34

35 6 INSTALLATION HINTS 6.1 ANALOG INPUTS Connection to the analog differential inputs must be carried out in a correct manner. (see figure E.) The ground (GND) at the ROBOT INTERFACE must be connected at the ROBOT output 0V pin. 6.2 DIGITAL INPUT SIGNALS. Figure F shows the connection of output signals from a robot to digital input signals on the robot interface. Robot interface kits with PCB version 0 have to be connected as shown in figure F.A. Later versions of the robot interface are connected as shown in figure F.B. Installation hints 6.35

36 C. DIGITAL OUTPUT SIGNALS. Figure G shows how to connect digital outputs. Figure G.A shows how to connect a robot controller with an input configured as a relay input. Figure G.B shows how to connect a robot controller with a normal optocoupler input (which is the normal). In this situation it is necessary to connect a 330 ohm 1W resistor between the output and the external +24V DC power supply. Installation hints 6.36

37 D. USE OF SIGNALS FOR PC PROGRAM ROBOWELD. The connection of JOB, SEEM, SEQUENCE and PROGRAM numbers from the robot to the robot interface has to follow the guidelines below. The robot interface uses a handshake sequence to read the data from the robot controller. The signals from the robot controller are binary coded to give enough different JOB, SEEM, SEQUENCE and PROGRAM numbers. The handshake signals are labelled as LOAD (output signal from robot) and READY (output signal from the robot interface). Figure H shows the connection of the signals between the robot controller and the robot interface. Figure I shows the handshake/load sequence between the robot controller and robot interface. Installation hints 6.37

38 Figure J shows the binary input sequence that corresponds to the actual JOB, SEEM, SEQUENCE and PROGRAM numbers. Note that the numbers start from 0. Installation hints 6.38

39 7. SPARE PARTS FOR ROBOT-INTERFACE PRODUCTS Robot interface in box without cables poled sub-d plug female (soldering) poled housing for Fuse 2A slow Cable kit for MIG/MAG with AUTOTRAFO poled cable for robot Cable for power supply Cable for PC Cable for BDH box Cable kit for TIG, TRIPLE, MIG/MAG without AUTOTRAFO & BDH poled cable for robot Cable for power supply Cable for PC Cable for BDH-box REVISION HISTORY DATE CHANGES INIT draft JHM Text changed to English and cable changed to (PC cable) JHM Cable kit for BDH550 added JHM Spare parts 7.39

40 8. APPENDIX B PCB outline A Appendix B 8.40

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