Robot auto-calibration sample programs – Miller Electric Auto-Axcess 450 User Manual
Page 32

OM-210 540 Page 28
4-6.
Robot Auto-Calibration Sample Programs
.
It is critical to make certain that NO start power, start conditions, run-in, or crater parameters of any kind are present in the robot program. The
welding power source is looking for 2 distinct welding conditions. If there is a “start power” condition, the welding power source will equate this
as the first condition and fail to execute Auto-Cal correctly. If there is a “crater fill” condition, the welding power source will equate this as the second
condition and fail to execute Auto-Cal correctly.
Actual Motoman Welder Condition File
NO.
REF (V)
MEASURE (A)
01
0.01
1
02
7.00
500
03
13.99
999
04
0.00
000
NO.
REF (V)
MEASURE (V)
01
0.14
0.5
02
7.00
25.0
03
14.00
50.0
04
Sample Auto-Calibration Routine For Motoman Robot
0000
NOP
0001
Mov J
0002
AWELD 1.40
(AWELD direct input of 1.40Volts = 100 ipm)
0003
VWELD 2.80
(VWELD direct input of 2.80Volts = 10.0 volts)
0004
Arcon
0005
Timer T=10.00
0006
Arcof
0007
AWELD 14.00
(AWELD direct input of 14.00Volts = 1000 ipm)
0008
VWELD 12.32
(VWELD direct input of 12.32Volts = 44.0 volts)
0009
Arcon
0010
Timer T=10.00
0011
Arcof
0012
End