Basic Characteristics RAPID

Example
ple 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 using 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.
MoveL ...
ArcL \On, *, v100, seam1, weld5, weave1, fine, gun1\Wobj:=wobj1;
ArcL *, v100, seam1,weld5, weave1, z10, gun1\Wobj:=wobj1;
ArcL *, v100, seam1,weld5, weave1, z10, gun1\Wobj:=wobj1;
ArcL \Off, *, v100, seam1,weld3, weave3, fine, gun1\Wobj:=wobj1;
MoveL ...
In this example, a weld is performed in which weld data and weave data are
changed in the final part of the weld, which is illustrated in Figure 4. Note that an
arc welding instruction must be used to change the direction of the path despite
the fact that no weld data is changed.
13-ArcL-6 RAPID Reference Manual