Page 148 - Welding Robots Technology, System Issues, and Applications

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PROC weld_on() Robotic Welding: System Issues 135
status:=0;
CONNECT timeint WITH HEAT_Timer;
set_ignition; Heating Timer
SetDO doGAS,1; Set the references for the
IF ptime<>0 THEN
ignition period
WaitTime ptime;
ENDIF Start wire feed and
SetDO doFEED,1; establish the arc
SetDO doWELD,1;
WaitUntil diARC_EST=1\MaxTime:=1\TimeFlag:=oops;
IF oops=TRUE THEN
werro:=801;
SetDO doGAS,0;
SetDO doFEED,0; Check if the arc was
SetDO doWELD,0; established and reset
reset_signals; signals if it wasn’t
EXIT;
ENDIF
IF imtime<>0 THEN
WaitTime imtime;
ENDIF Set the references for
set_heating; the heating period
ITimer\Single,htime,timeint;
ENDPROC

PROC set_ignition()
SetAO aoWD_REF,wd_iref;
SetAO aoFEED_REF,feed_iref;
status:=1;
ENDPROC
PROC set_heating()
SetAO aoWD_REF,wd_href;
SetAO aoFEED_REF,feed_href;
status:=2;
ENDPROC

PROC set_references()
SetAO aoWD_REF,wd_ref;
SetAO aoFEED_REF,feed_ref;
status:=3;
ENDPROC

PROC reset_signals()
SetDO doGAS,0;
SetDO doFEED,0;