Basic Characteristics RAPID

change of angle in the path, the weaving pattern will be distorted.
The instruction ArcC should never be restarted after the circle point has been passed.
Otherwise the robot will not take the programmed path (positioning around the circular
path in another direction compared with that programmed).
Error management
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed, the
errors defined below can be remedied without stopping production. See the example in
the RestoPath instruction.
Error constant (ERRNO value) Description
AW_START_ERR Start condition error; torch, gas or water supervision
AW_IGNI_ERR Ignition error; arc supervision
AW_WELD_ERR Weld error; arc supervision
AW_EQIP_ERR Weld equipment error; voltage, current, water or gas
supervision during welding
AW_WIRE_ERR Wire stick error; wire stick supervision
AW_STOP_ERR Welding interrupted with the stop process input
The process supervision is determined as a part of the process equipment configuration.
At the start of the process the robot checks that the following preconditions have been
met:
- stop_process
- water_OK
- gas_OK
- torch_OK
If, after the start command is given, no approved start profile is indicated on the digital
input, arc_OK, within a predetermined time period, the process start will be interrupted.
When the process is started, all supervision inputs selected are monitored continuously:
- stop_process, water_OK, gas_OK, arc_OK, volt_OK, curr_OK, feed_OK.
The wirestick_err supervision is checked at the end of the weld.
13-ArcC-6 RAPID Reference Manual