Table 1. TorchMate Setup Items
ITEM | DESCRIPTION |
---|---|
Schedule Status | |
Tool number Default: 1 Range: 1 – 10 |
This item specifies the number of the TorchMate tool frame that you have selected. |
Group number Default: 1 Range: 1–5 |
This item indicates the currently selected group. The system will indicate that an inappropriate group is selected when input is attempted and a non-robot group has been chosen. (Note: This is for display only.) |
Weld equipment number Default: 1 Range: 1–4 |
The system supports four equipments. If an invalid equipment number is inserted, the old value will be restored. The number of equipment is defined at Controlled start. The Multi-equipment option is required for equipment 2–4. |
Mastering status Default: UNINIT Range: UNINIT, XY, XYX |
This item indicates if mastering is UNINITialized, “XY” type completed, or XYZ” type completed. (Note: This is for display only) |
Search Settings | |
Input signal Default: DI[1] Range: 1 – 1024 |
This item specifies the type and number of the input signal that will be used to indicate when the wire contacts the touch block. You can specify one of the following input types:
NoteFor WSI, use an input number of 1. Equipment 2 uses WSI[9], Eq. 3 uses WSI[17], and Eq. 4 uses WSI[25].
|
Output signal Default: DO[1] Range: 1 – 1024 |
This item specifies the type and number of the output signal that will be used to activate the sensing circuit. You can specify one of the following output types:
NoteFor WSO, use an output number of 1. Equipment 2 uses WSO[9], Eq. 3 uses WSO[17], and Eq. 4 uses WSO[25].
|
X Y offset limit Default: 20 mm Range: 0 – 20 mm |
This item specifies the maximum allowable offset in millimeters (±from the original TCP) that the tool center point will be adjusted in x and y directions before an error is detected. Set the maximum offset limit to no more than 15 mm for straight welding torches. If the torch is bent more than 15 mm, the torch is damaged beyond use. For curved torches, set the maximum offset limit to 10 mm. Overall, it is recommended to keep the limits as small as possible. Large changes in TCP values will alter the axes positions of the robot, which could displace positions beyond its reach or cause damage to the robot or welding torch. |
Z compensation Default: DISABLED Values: ENABLED, DISABLED |
This item enables and disables the use of Z compensation. By default, Z compensation is disabled. Do not enable Z compensation unless you use a wire brake and a wire clip station. |
Z offset limit Default: 5 mm Range: 0 – 10 mm |
This item specifies the maximum allowable offset in millimeters (± from the original TCP) that the tool center point will be adjusted in the z direction before an error is detected. This value is used only when Z compensation is enabled. |
Search speed Units: mm/sec Default: 15 mm/sec Range: 1 – 75 mm/sec |
This item specifies the speed at which TorchMate searches will be performed. The TorchMate program forces the user to use 100% override. This speed is used only for those moves involving touch sensing. A lower value gives more accurate results. |
Search start Units: mm Default: 25 mm Range: 15 – 100 mm |
This item specifies the distance from the touch block pointer tip to the search start point along the robot WORLD +x and +y directions. |
Search start Z Default: 36 mm Range: 15 – 100 mm |
This value represents the pointer height. Do not change the default value. |
Reference position Default: UNINIT Values: UNINIT, RECORDED |
This item is used to record the position corresponding to the tip of the pointer, which is the reference position for the TorchMate operation. |
Wirefeed Settings | |
Wire advance time Units: seconds Default: .150 Range: .01– 9.99 |
This item specifies the amount of time that the wire is advanced before beginning the search. This time is used to ensure that enough wire is sticking out before the search is performed. |
Wire retract time Units: seconds Default .150 Range: .01– 9.99 |
This item specifies the amount of time that the wire is retracted after the search is complete. This time is used to return the wire stickout to the desired length after searching. To ensure good arc starts, retract the wire to a length shorter than the taught stickout length. |
Wire speed Units: IPM Default: 250 Range: 0– 1000 |
This item specifies the speed at which the wire is advanced and retracted. Nominal scaling is used, in which 0 - 1000 WFS are equal to 0 - 10 volts. NoteWhen the welding equipment interface is DeviceNet or ArcLink, the wire speed is set to the Wire Inch Rate in the Equipment Setup screen. |
Recovery and Monitor Settings | |
Starting PR[] number Default: 1 Range: 0 – 200 |
TorchMate uses two consecutive position registers to display the original TCP ($UTOOL) and the current TCP (after running TM_ADJST) in that order. If the default position registers PR[1] and PR[2] are already being used by another program or application, change the value of this item. NoteThese position registers are used only for display purposes and do not affect TorchMate operation if the values in them are altered or even erased. |
Error recovery method Default: PROMPT Values: REDO, SKIP, ABORT, or PROMPT |
This item determines which error recovery method will be used when a TorchMate fault occurs. |
Error output signal Default: DO[0] Range: 1 – 1024 |
This item turns on the output when certain alarms occur. It turns off the output when the alarm is cleared and the system is restarted. The same DO signal can apply to multiple TorchMate schedules. NoteDO[0] = Not Used |
Touchup monitor Unit: hrs Default: 0.0 Range: 0.0 – 99.99 |
This item indicates the minimum number of hours between running TorchMate Adjust. Note0.0 = OFF |
Collision Monitor Default: DISABLED Values: ENABLED, DISABLED |
This item, when ENABLED, posts a reminder on the teach pendant after collisions alarms stating that TorchMate Adjust should be executed. |