MIGATRONIC SETUP GUIDE FOR ROBOT INTEGRATIONWITH FANUC J708 – ETHERNET IP

50115054  Valid from 2017 week 34

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Configuration

This manual contains information how to set up communication between Migatronic welding machines and Fanuc robots via Weld EQ Setup Tool (option J708).

Software is compatible with the following Migatronic welding machines:- Sigma Galaxy 400 + RCI2 interface - Sigma Galaxy 500 + RCI2 Interface - Sigma Next 400 with integrated robot interface

Fanuc requirements:- Controller: R-30iB- Software: V8.30/32 or higher- Software: ArcTool (H541)- Optional software: Ethernet /IP Scanner (A05B-2600-R785) - Optional software: Weld EQ Setup Tool (1A05B-2500-J708)

Connection requirments:- Shielded Ethernet cable - Ferit core 17440005, Ethernet cable must go through ferit core with 3 windings - Ethernet cable must be connected to interface and Fanuc controller port#2

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a) Sigma Galaxy 400/500 Robo - The welding machine should be equipped with external robot interface RCI2 (78865026) + Fieldbus module

Ethernet/IP (17200071).

- The RCI2 must be uploaded with configuration file 10010205.

How to set up the Migatronic welding machine

RIGHT

DOWNENTER

LEFT

UP

3 secs° EXIT

=Setup=========Â

¾ Load from SD

Config file====Â

¾ 10010205.txt

= Load from SD RIGHT

DOWNENTER

LEFT

UP

-Ethernet IP---Ã

¾ DHCP Disabled

= DCHP

¿ IP Address

-Ethernet IP---Ã

192.168.000.010

= IP Address

b) Sigma Next 400- Sigma Next contains an integrated digital robot interface and should be equipped with Fieldbus module

Ethernet/IP (17200071).

- Sigma Next must be uploaded with configuration file 10010205.

1) Press Menu.

1) Scroll down by bottom potentiometer to menu RCI.

2) Press setup fieldbus module.

1) Switch OFF DHCP

2) Set up IP address: 192.168.000.010

3) Set up IP subnet mask: 255.255.255.000

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How to set up Fanuc

1) Switch the robot to the mode - Control start

1) Press FCTN on iPendant.

2) Press 0 (next).

1) Press 8 (cycle power).

1) Select Options.

1) Select CTRL.

2) Robot will reboot automatically in controlled start.

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How to set up Fanuc

2) Weld EQ Setup Tool ( J708)

1) Move cursor to position 7 model.

1) Press F4 [CHOICE].

2) Move cursor to posion 5 DIGITAL(Custom) and push ENTER.

If NOT listed, J708 option is NOT installed and robot system software upgrade is required.

1) Save the software on your MC or USB

- Please be sure that all files are placed directly at the root.

- Folder contains the following files:• WEQCFG1.XML – Config

Migatronic file• *.tp – Programs for change

of Job/Program • *.vr – Welding procedures

2) Select the device where WEQCFG1 is saved and ENTER.0. – Memory Card inside controller1. – USB port on controller 2. – USB port on iPendant

The file WEQCFG1 is important for these steps.

3) Upload Migatronic XML file WEQCFG1

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How to set up Fanuc

4) Specify range of Digital Input/Output - DI/DO

1) Select starting point of configuration DI. Migatronic file requires 160 DI.

1. YES - system requested definition by user where signals will be allocated

2. NO - system automatically allocated signals

2) Select starting point of configuration DO. Migatronic file requires 144 D0. 1. YES - system requested definition by user where signals will

be allocated2. NO - system automatically allocated signals

Note: This configuration depends on customer settings. You can verify MENU-(5)I/O-(5)DIGITAL free starting point.

Note: 64 Bits are always reserved in standard Fanuc configuration, so the system automatically chooses the starting point 65: in this case 65=1(DX Migatronic) if you have not specified the starting point (2. No).

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5) Specify range of group input/output - GI/GO

1) Select starting point of configuration GI. The Migatronic file requires 9 GI. 1. YES - system requested definition by user where signals will

be allocated2. NO - system automatically allocated signals

2) Select starting point of configuration GO. The Migatronic file requires 7 GO. 1. YES - system requested definition by user where signals will

be allocated2. NO - system automatically allocated signals

Note: This configuration depends on customer settings. You can verify MENU-(5)I/O-(7)GROUP free starting point.

How to set up Fanuc

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How to set up Fanuc

6) End procedure of set up at control start

1) This screen is displayed on iPendant, if the setup procedure is carried out correctly.

2) Press FCTN on the iPendant keyboard and select START (COLD) and Enter. Controller will reboot automatically.

Note: The system may show the error “Arc – 253 I/O polarity is inverted” after reboot.If you see this error on your system please reboot the system again: FCTN – (0) Next – (8) Cycle Power – Enter

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How to set up Fanuc

7) Verify communication between robot and Migatronic welding machine

1) Please verify that communication is running on robot: - MENU-(5) I/O - (5) Ethernet/IP- ENTER.

- RUNNING status should be displayed.

1) SIGMA Next: It is also possible to verify directly on the welding machine that the communication is running.

1) SIGMA Galaxy: It is also possible to verify on the display in the robot interface that the communication is running.

Running

Status: É

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How to set up Fanuc

8) Upload welding procedures + TP programs from USB

1) Delete actual procedure - Press DATA. - Select (1) weld procedure. - Press [ CMND]. - Move cursor to (7). - Press ENTER. - Press F4 [ YES] x2. - Delete WP by pressing ENTER.

Note: Do not create new procedure!

Note 2: All “old” procedure must be deleted

2) Prepare controller for file upload - Press MENU. - Select (7) FILE (1) by pressing ENTER.

Note: Insert eg. USB to controller with software (same as step 3). File should be saved in root!

3) Choose relevant location for SW upload - Select [UTIL] and press ENTER on [SET DEVICE - Move cursor to source e.g (7) UD1 (Controller USB socket)

4) Upload software - Press LOAD + ENTER. - Press F4 [YES] - Start upload process start. - Restart system after upload.

Note: The system sends a message if the file WEQCFG1 is not possible

to upload – skip this file upload.

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How to set up Fanuc

5) Select welding procedure - Press DATA after restart.

- Type “Weld procedure” and verify that 5 new welding procedures are available.

Procedure 1-Direct ModeThis procedure contains standard welding process short + spray Arc(Amps, Volts )

Procedure 2-Direct Pulse This procedure contains Pulse Arc (Amps, Volts)

Procedure 3-Duo Pulse This procedure contains Pulse Arc with DUOPlus function (Amps, Volts)

Procedure 4-DuoPlus This procedure contains standard welding process with DUOPlus function (Amps, Volts)

Procedure 5-Job Mode This procedure contains JOB function(Job number)

Note: It is possible to upload 2 extra *TP programs during upload of welding procedure:

- SET_WELD_PRG – ensures selection of synergic welding programs eg. P113 etc. Please use this program only in weld procedure 1 to 4 (use Call function).

- SET_WELD_JOB – this program ensures selection of JOB (max. 256). Sequences must be defined by Procedure 5. Each Jobs contains up to 99 sequences.

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9) Description of TP programs

1) SET_WELD_PRG – for synergic welding. Please verify that your GO/GI corresponds with the shown signals.

2) SET_WELD_JOB – to ensure selection of JOB. Please verify that your GO/GI corresponds with the shown signals.

3) SIGMA GALAXY: It is very important to select the right wirefeeder: # 0 - Internal wire feeder # 1 - External wire feeder (mostly used) # 2 - External wire feeder 2

Please create your program SELECT_WF, set up GO[7] = 1 and start this program as Background logic.

In this case robot always sets GO[7] = 1.

You can easily activate the actual feeder via GO, if your application contains two wire feeders.

How to set up Fanuc

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How to set up Fanuc

10) Examples of different weld procedures and Migatronic functions

a) Weld procedure 1 – DIRECT MODE

b) Weld procedure 2 – DIRECT PULSE

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c) Weld procedure 3 – DIRECT DUOPULS

d) Weld procedure 4 – DIRECT DUOPLUS

How to set up Fanuc

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How to set up Fanuc

e) Weld procedure 4 – JOB MODE

Function ensures call of relevant job, ex JOB 1

Weld starts and assigns relevant sequences ex. 2

Weld starts and assigns relevant sequences ex. 11

All parameters must be set up on the welding machine only

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DENMARK:

Main officeSVEJSEMASKINEFABRIKKEN MIGATRONIC A/SAggersundvej 33, DK-9690 Fjerritslev, DenmarkTel. +45 96 500 600, www.migatronic.com

MIGATRONIC EUROPE:

Great BritainMIGATRONIC WELDING EQUIPMENT LTD21 Jubilee Drive, Belton Park, LoughboroughGB-Leicestershire LE11 5XS, Great BritainTel. +44 01509/267499, www.migatronic.co.uk

FranceMIGATRONIC EQUIPEMENT DE SOUDURE S.A.R.L. Parc Avenir II, 313 Rue Marcel Merieux FR-69530 Brignais, France Tel. +33 04 78 50 65 11, www.migatronic.fr

ItalyMIGATRONIC s.r.l. IMPIANTI PER SALDATURA Via Dei Quadri 40, IT-20871 Vimercate (MB), Italy Tel. +39 039 9278093, www.migatronic.it

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MIGATRONIC ASIA:

ChinaSUZHOU MIGATRONIC WELDING TECHNOLOGY CO. LTD #4 FengHe Road, Industrial Park, CH-SuZhou, ChinaTel. +86 0512-87179800, www.migatronic.cn

MIGATRONIC AUTOMATION A/SKnøsgårdvej 112, DK-9440 Aabybro, DenmarkTel. +45 96 96 27 00, www.migatronic-automation.dk

FinlandMIGATRONIC OY PL 105, FI-04301 Tuusula, Finland Tel. +358 0102 176 500, www.migatronic.fi

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GermanyMIGATRONIC SCHWEISSMASCHINEN GMBH Sandusweg 12, D-35435 Wettenberg-Launsbach, Germany Tel. +49 0641/98284-0, www.migatronic.de

IndiaMIGATRONIC INDIA PRIVATE LTD.No.22 & 39/20H Sowri Street, IN-Alandur, Chennai – 600 016, IndiaTel. +91 44 2233 0074 www.migatronic.in