3HAC050972 AM Programming Integrated Power Source IRC5-En

ROBOTICS
Application manual
Programming Integrated Power Source
Trace back information:
Workspace R18-2 version a11
Checked in 2018-10-11
Skribenta version 5.3.008
Application manual
Programming Integrated Power Source
RobotWare 6.08
Document ID: 3HAC050972-001

Revision: B
© Copyright 2004-2018 ABB. All rights reserved.

Specifications subject to change without notice.
The information in this manual is subject to change without notice and should not
be construed as a commitment by ABB. ABB assumes no responsibility for any errors
that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to
persons or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from
use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB's
written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.

ABB AB, Robotics
Robotics and Motion
Se-721 68 Västerås
Sweden
Table of contents
Table of contents
Overview of this manual ................................................................................................................... 7
1 Safety 9
1.1 Safety ............................................................................................................. 9
1.2 Safety for arc welding ........................................................................................ 10
1.3 Safety signals in the manual ................................................................................ 11
1.4 Make sure that the main power has been switched off .............................................. 13
2 Integrated Power Source applications 15

2.1 Overview ......................................................................................................... 15
2.2 Start the Integrated Power Source ........................................................................ 16
2.3 Active arc welding system ................................................................................... 17
3 Integrated Power Source application details 19

3.1 Schedule management ....................................................................................... 19
3.1.1 Open schedule window ............................................................................ 19
3.1.2 Create a schedule ................................................................................... 20
3.1.3 Copy a schedule ..................................................................................... 22
3.1.4 Delete a schedule .................................................................................... 23
3.1.5 Viewing schedule components .................................................................. 24
3.1.6 Editing schedule components .................................................................... 27
3.2 Manage user defined synergic lines ...................................................................... 31
3.2.1 Open the window for management of user defined synergic lines ..................... 31
3.2.2 Create a user defined synergic line ............................................................. 32
3.2.3 Display all user defined synergic lines ......................................................... 33
3.2.4 Delete a user defined synergic line ............................................................. 34
3.2.5 Open and save a user defined synergic line ................................................. 35
3.3 Advanced functions ........................................................................................... 37
3.3.1 Open advanced functions window .............................................................. 37
3.3.2 Service information .................................................................................. 38
3.3.3 Service functions .................................................................................... 39
3.3.4 Settings ................................................................................................. 41
3.4 Backup and restore schedules ............................................................................. 47
3.4.1 Open backup and restore window .............................................................. 47
3.4.2 Backup schedules ................................................................................... 48
3.4.3 Restore schedules ................................................................................... 49
3.5 Exporting schedule components .......................................................................... 51
3.6 Viewing measured welding data ........................................................................... 52
3.6.1 Measured welding data ............................................................................ 52
4 Programming schedules 53
4.1 Overview ......................................................................................................... 53
4.1.1 About schedules ..................................................................................... 53
4.2 Synergic data values – a programming aid ............................................................. 54
4.2.1 Syneric data values ................................................................................. 54
4.3 Schedule components ........................................................................................ 55
4.3.1 Settings ................................................................................................. 55
4.3.2 Mode .................................................................................................... 56
4.3.3 Method .................................................................................................. 57
4.3.4 Creepstart .............................................................................................. 61
4.3.5 Hotstart ................................................................................................. 62
4.3.6 Craterfill ................................................................................................ 65
4.3.7 Synergic ................................................................................................ 70
4.3.8 Wirefeed speed ....................................................................................... 71
4.3.9 Voltage .................................................................................................. 72
4.3.10 Arc length .............................................................................................. 74
Application manual - Programming Integrated Power Source 5

3HAC050972-001 Revision: B
Table of contents
4.3.11 Dynamic properties ................................................................................. 75

4.3.12 Regulator type ........................................................................................ 76
4.3.13 Pulse current .......................................................................................... 77
4.3.14 Pulse time .............................................................................................. 78
4.3.15 Background current ................................................................................. 79
4.3.16 Frequency ............................................................................................. 80
4.3.17 Slope .................................................................................................... 81
4.3.18 Ka ........................................................................................................ 82
4.3.19 Ki ......................................................................................................... 83
4.3.20 Final wirefeed speed ................................................................................ 84
4.3.21 Final voltage ........................................................................................... 85
4.3.22 Final arc length ....................................................................................... 86
4.3.23 Final pulse current ................................................................................... 87
4.3.24 Final background current .......................................................................... 88
4.3.25 Final frequency ....................................................................................... 89
4.3.26 Craterfill time .......................................................................................... 90
4.3.27 Burnback time ........................................................................................ 91
4.3.28 Final pulse ............................................................................................. 92
4.3.29 Touch sense current ................................................................................ 93
4.3.30 Phase time ............................................................................................. 94
5 Predefined synergic lines 95

5.1 Introduction ...................................................................................................... 95
5.2 Setting the welding process ................................................................................ 96
6 Rapid command *Load 99

6.1 Load the .sid file ................................................................................................ 99
7 Rapid command *Store 101

7.1 Saving the .sid file ............................................................................................. 102
8 Rapid command *Tune 105

8.1 Setting Numeric Schedule Components ................................................................ 106
Index 109
6 Application manual - Programming Integrated Power Source

Overview of this manual
Overview of this manual

About this manual
This manual contains information on how to:
• Create and edit schedules.
• Create user defined synergic lines.
• Read service information and execute service functions.
• Backup and restore SID files.
Usage
This manual is intended to be used for:
• Programming
• Maintenance
Who should read this manual?

This manual is intended for:
• Robot programmers
• Maintenance personnel
Basic knowledge
Readers of this manual must be:
• Familiar with industrial robots and the relevant terminology
• Familiar with RAPID programming language
• Familiar with system parameters and how to configure them.
Reference documents
References Document ID
Technical reference manual - RAPID Instructions, Functions 3HAC050917-001
and Data types
Technical reference manual - System parameters 3HAC050948-001
Application manual - Arc and Arc Sensor 3HAC050988-001
ESAB user manual
Revisions
Revision Comment
- First revision.
A Released with RobotWare 6.04
• Updated FlexPendant screen shots.
• Minor corrections.
B Released with RobotWare 6.08.
• Added limitation for AristoMig Integrated.

This page is intentionally left blank
1 Safety
1.1 Safety
1 Safety
1.1 Safety
Safety of personnel
A robot is heavy and extremely powerful regardless of its speed. A pause or long
stop in movement can be followed by a fast hazardous movement. Even if a pattern
of movement is predicted, a change in operation can be triggered by an external
signal resulting in an unexpected movement.
Therefore, it is important that all safety regulations are followed when entering
safeguarded space.
Safety regulations
Before beginning work with the robot, make sure you are familiar with the safety
regulations described in the manual Operating manual - General safety information.

1 Safety
1.2 Safety for arc welding
1.2 Safety for arc welding
Safety instructions for arc welding

Safety instructions can be found in the manual Introduction and Safety - Arc Welding
Products for all steps that involve risk of personal injury or material damage. In
addition, they are included in the instructions for each step.
General warnings, where the intention is to avoid problems, are only included in
the instructions.
WARNING
All personnel working with the welding robot system must have a full
understanding of the applicable safety instructions.

1 Safety
1.3 Safety signals in the manual
Introduction to safety signals

This section specifies all safety signals used in the user manuals. Each signal
consists of:
• A caption specifying the danger level (DANGER, WARNING, or CAUTION)
and the type of danger.
• A brief description of what will happen if the the danger is not eliminated.
• Instruction about how to eliminate danger to simplify doing the work.
Danger levels
The table below defines the captions specifying the danger levels used throughout
this manual.
Symbol Designation Significance
DANGER Warns that an accident will occur if the instructions
are not followed, resulting in a serious or fatal injury
and/or severe damage to the product. It applies to
warnings that apply to danger with, for example,
contact with high voltage electrical units, explosion
or fire risk, risk of poisonous gases, risk of crushing,
impact, fall from height, and so on.
WARNING Warns that an accident may occur if the instructions
are not followed that can lead to serious injury, pos-
sibly fatal, and/or great damage to the product. It
applies to warnings that apply to danger with, for
example, contact with high voltage electrical units,
explosion or fire risk, risk of poisonous gases, risk
of crushing, impact, fall from height, etc.
ELECTRICAL Warns for electrical hazards which could result in
SHOCK severe personal injury or death.
CAUTION Warns that an accident may occur if the instructions

are not followed that can result in injury and/or
damage to the product. It also applies to warnings
of risks that include burns, eye injury, skin injury,
hearing damage, crushing or slipping, tripping, im-
pact, fall from height, etc. Furthermore, it applies to
warnings that include function requirements when
fitting and removing equipment where there is a risk
of damaging the product or causing a breakdown.
ELECTROSTATIC Warns for electrostatic hazards which could result
DISCHARGE (ESD) in severe damage to the product.
NOTE Describes important facts and conditions.
Continues on next page

1 Safety
Continued
Symbol Designation Significance

TIP Describes where to find additional information or
how to do an operation in an easier way.

1 Safety
1.4 Make sure that the main power has been switched off
1.4 Make sure that the main power has been switched off
Description
Working with high voltage is potentially lethal. Persons subjected to high voltage
may suffer cardiac arrest, burn injuries, or other severe injuries. To avoid these
personal injuries, switch off the main power on the controller before proceeding
work.
Note
Switch off all main power switches in a MultiMove system.

2 Integrated Power Source applications
2.1 Overview

2.1 Overview
General
Integrated Power Source is an administrative interface for power sources in
FlexPendant.
The following power sources are compatible with the Integrated Power Source:
• Arcitec IRC5
• MigRob 500
• AristoMig 500 Integrated
Limitation for AristoMig Integrated

The latest versions of firmware for AristoMig Integrated that are tested and
supported with IRC5 are WDL 1.05 and PS 1.39P.

2.2 Start the Integrated Power Source
2.2 Start the Integrated Power Source
How to start the Integrated Power Source tool:
Action Info/Illustration
1 Tap the ABB menu.
2 Tap Integrated Power Source.
The program starts.
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3 Once the program has been loaded, a

desktop is displayed with a number of
icons. The power source functions can be
accessed from here.
• Tap on the shutdown button (top
right corner) to close Integrated
Power Source.
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2.3 Active arc welding system
Introduction
The selection of the arc welding system determines which equipment is active
when manual operations - i.e. Gas On, Manual Wire feed, Editing schedules - are
executed.
See Application manual - Arc and Arc Sensor on how to change active arc welding
system.
Active power source information

The I/O unit name of the active power source, the name of the active arc welding
system and the robot associated with that system, are indicated in the top right.
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The arc welding system System 1 associated with robot ROB_1 is active. The power
source B_AW_PROC_40 is configured in that system.
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A The robot associated with the active arc welding system, e.g ROB_1
B The name of the active arc welding system, e.g System 1
C The I/O unit name of the active power source, e.g B_AW_PROC_40

Continued
Note
When the active arc welding system or active robot is changed, the Integrated
Power Source reverts to desktop mode. If active power source is not compatible
with Integrated Power Source or that the power source is unconnected, the
Integrated Power Source desktop icons will be grayed out.

3 Integrated Power Source application details
3.1.1 Open schedule window

3.1 Schedule management
3.1.1 Open schedule window
Open schedule window
1 Tap Schedules in the start window
to open the schedule window.
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2 All schedules stored in the power

source are listed.
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Tip
A schedule with the Super pulse mode activated is followed by a plus character.
This schedule occupies two schedule memory positions. E.g if schedule 1 has
the Super pulse mode enabled, it is not possible to store a schedule with the
number 2.

3.1.2 Create a schedule
Create a schedule
1 In the Schedule window, tap New.
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2 A numerical keypad is displayed.

You can add a new schedule number in two
different ways:
• Use the number suggested by the
system.
• Enter the new schedule number us-
ing the numeric keys.
3 Tap OK to create a new schedule.
4 Tap Cancel to cancel creating a new
schedule.
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5 The schedule window is updating. The

created schedule is highlighted.
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Tip
The content of the new schedule is identical to the most recently activated
schedule in the power source. See Copy a schedule on page 22.

Continued
Note
A new schedule never has Super pulse activated, regardless of what the last
activated schedule had.

3.1.3 Copy a schedule
3.1.3 Copy a schedule
Instructions
1 In the Schedule window, tap to select the
schedule to be copied.
2 Tap Duplicate.
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3 A numerical keypad is displayed.

• Use the schedule number suggested
by the system.
• Enter the new schedule number us-
ing the numeric keys.
4 Tap OK to copy the schedule number.
5 Tap Cancel to abort the copying.
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6 The schedule window is updating. The

created schedule is highlighted.
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Tip
A schedule with Super pulse can only be copied to an odd schedule number
between 1 and 95.

3.1.4 Delete a schedule
3.1.4 Delete a schedule
Instructions
1 In the schedule window, select the sched-
ule.
2 Tap Delete.
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3 A dialog box appears to confirm deletion

of the selected schedule.
• Tap Yes to delete the schedule.
4 Tap No to abort the deletion.
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5 The schedule window is updated.
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3.1.5 Viewing schedule components
Instructions
1 In the schedule window, select the sched-
ule.
2 Tap Edit.
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3 A schedule window containing the compon-

ents of the schedule is displayed.
There are two different groups of schedule
components:
• Non-numeric schedule components
• Numeric schedule components
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Note
Make a practice of always tapping the Cancel button if you are only interested
in viewing a schedule and not making unintentional changes.

Continued
Non-numeric schedule components

Non numeric schedule components consists of:
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1. Mode (switch between primary and secondary schedule for Super pulse)
2. Method
3. Material
4. Gas
5. Wire size
6. Creepstart
7. Hotstart
8. Craterfill
9. Synergic
Tip
It is possible to configure whether creepstart and hotstart are to be visible in the

schedule editor. See Advanced functions on page 37.
Numeric schedule components

The numeric schedule components used in a schedule are displayed.

Continued
In addition the user may choose to display only a subset of the components, by
selecting a different view.
Changing the view
1 Tap View.
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2 Select a new category.
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Tip
These categories and the schedule components included in each category are
configurable. See Advanced functions on page 37.
Note
If there are no categories for view management, the View button will be greyed
out and all numeric schedule components available in the schedule will be
displayed.

3.1.6 Editing schedule components
Introduction
Starting from a schedule window as described in Viewing schedule components
on page 24.
An arbitrary number of components can be changed in the open schedule before
closing the schedule window.
Activating Super pulse

Proceed as follows:
1 Activate Super pulse by selecting Super
pulse. Select the normal box to use a nor-
mal schedule.
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Changing method, material, gas and wire dimension

Proceed as follows to make a change:
1 Tap the button displayed in the image.
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Continued
2 A new window is displayed.
3 Select method, material, gas and wire size.
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4 To confirm that the changes you have made

are to be provisionally saved: tap OK.
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Switch between schedule instances in Super pulse mode
Note
Only applicable to MigRob500 and AristoMig 500 Integrated or similar.

Proceed as follows:
1 Tap the button to switch between start and
end schedule.
2 Select which schedule is to be shown.
3 The numeric schedule components are
updated.
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Continued
Changing crepstart, hotstart, craterfill and synergic

Proceed as follows to make a change:
1 Tap on the schedule component that you
want to change.
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2 The button drops down a list of options.

• Tap on the option that you want to
change to.
3 If you do not want to change the selection,
click the top button in the list.
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Note
Depending on the options set, the value of the numeric schedule components
can be changed, and also the number of schedule components in the list.
Adjusting the value of a numeric schedule component
1 Select the schedule component that you
want to change.
2 Tap the plus or minus button to change the
value of the selected schedule component.
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Continued
Editing numeric schedule components
1 Select the schedule component that you
want to change.
2 Tap the 123... button to open a numerical
keypad.
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3 Permitted limit values are shown in the nu-

merical keypad.
4 Change the value by entering it in the nu-
merical keypad.
5 Tap OK to set the value.
6 Tap Cancel to cancel.
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Note
When a new value is given using numerical input, the value may sometimes be
adjusted automatically. The value is rounded off to the nearest valid value.

3.2.1 Open the window for management of user defined synergic lines
3.2 Manage user defined synergic lines
3.2.1 Open the window for management of user defined synergic lines
Instructions
1 Tap on the Synergic Lines icon to open the
window for management of user defined
synergic lines.
2 The window for management of user
defined synergic lines is displayed.
From here, you can:
• Create a user defined synergic line.
• Display all user defined synergic
lines.
• Delete user defined synergic lines.
• Open and save user defined syner-
gic lines.
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3.2.2 Create a user defined synergic line
3.2.2 Create a user defined synergic line
Instructions
Start with defining working points for your synergic line. These working points are
created from the schedule management window.
See Schedule management on page 19.
The working points must be stored in schedule 96-99.
Note
See Synergic data values – a programming aid on page 54.
The number of working points used is determined by the method:

• For short arc or spray arc, four (4) working points are required (schedule
96-99).
• For short pulse, two (2) working points are required (schedule 96-97).
1 Start from the window for management of
user defined synergic lines. Tap the Create
button.
2 A new synergic line is created in the power
source.
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There are also restrictions in the welding parameters, depending on method

selected:
Short arc or Spray arc
Voltage 96 < 97 < 98 < 99
Wire feed speed 96 < 97 < 98 < 99
Regulator type 96 = 97 = 98 = 99
Short pulsed arc

Arc length 96 < 97
Wire feed speed 96 < 97
Pulse current 96 < 97
Slope 96 = 97
Ka 96 = 97
Ki 96 = 97

3.2.3 Display all user defined synergic lines
3.2.3 Display all user defined synergic lines
Instructions
user defined synergic lines.
• Tap User defined synergic lines.
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2 All user defined synergic lines are dis-

played in a list in a new window.
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3.2.4 Delete a user defined synergic line
3.2.4 Delete a user defined synergic line
Instructions
• Tap User defined synergic lines.
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2 All user defined synergic lines are dis-

played in a list in a new window.
• Select the synergic line to be deleted
3 Tap Delete.
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4 The user defined synergic line is deleted.
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3.2.5 Open and save a user defined synergic line
Opening
• Tap on the File menu.
• Select the Open option.
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2 Select a file.
3 Tap OK to open the file.
4 Tap Cancel to abort and return to the Syn-
ergic Lines window.
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Saving
• Tap the File menu.
• Tap Save.
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Continued
2 A file name is suggested
3 If you want to change the filename, tap
ABC....
4 Tap OK to save the file.
5 Tap Cancel to return to the synergic lines
window without saving the file.
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3.3.1 Open advanced functions window
3.3 Advanced functions
3.3.1 Open advanced functions window
Instructions
To open advanced functions for the power source:
1 Tap on the Advanced functions icon to
open the Advanced functions window for
the power source.
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2 The window for advanced functions in-

cludes the following functions:
• Service Information, e.g. version,
DeviceNet address, etc.
• Service functions, e.g. reset, change
of DeviceNet address.
• Settings, i.e. customizing the user
interface.
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3.3.2 Service information
3.3.2 Service information
Instructions
1 In the Advanced functions window, click
the Information tab.
2 The following service information is dis-
played:
• Product name
• Power Source id
• Product code
• Weld data unit software version
• Power source software version
NOTE! Only applicable to Mig-
Rob500 and AristoMig 500 Integrated
or similar. xx1400001785
• IO unit name
• DeviceNet address

3.3.3 Service functions
General reset
1 In the Service functions window, tap Gen-
eral reset.
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2 Tap Yes to confirm resetting of the power

source.
3 Tap No to abort resetting of the power
source.
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Note
When the power source is reset, the schedule memory is cleared and all user
defined synergic lines are deleted!
Changing the DeviceNet address
1 In the Service functions window, tap
Change address.
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Continued
2 Enter the new address in the number field
that appears.
3 Tap OK to continue with the address
change.
4 Tap Cancel to abort the address change.
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5 Tap Yes to confirm the address change on

the power source.
6 Tap No to abort the address change on the
power source.
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Note
Once the address has been changed, the robot system immediately loses contact
with the power source. To enable the robot system to find the power source that
has changed address, the I/O configuration in the robot system must be changed.

3.3.4 Settings
3.3.4 Settings
Instructions
1 In the Advanced functions window, tap the
Settings tab.
2 You can configure the user interface for the
schedule editor here:
• Configuring Views.
• Hiding/showing certain nonnumeric
schedule components (Advanced).
• Selecting which schedule compon-
ents are to be used for on-line tuning
in RobotWare Arc (Tuning).
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Customizing views
1 In the Settings tab, tap Views.
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2 A new window opens showing all existing

views.
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3.3.4 Settings
Continued
Creating views
1 In the Settings tab, tap New to add a new
view.
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2 A new window opens.

• Enter the name of the view.
3 Tap OK to save the view.
4 Tap Cancel to cancel creating a new view.
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Editing views
1 In the Settings tab, select the name of the
view.
2 Tap Edit.
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3.3.4 Settings
Continued
3 A new window opens showing the names
of all possible schedule components.
• Select the schedule components to
be included in the view by checking
the box beside each schedule com-
ponent name.
4 Tap OK to save the changes to the view.
5 Tap Cancel to cancel all changes.
Changing the name of a views
1 In the Settings tab, tap and hold on the
name of an existing view.
2 Select Rename.
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3 Enter a new name for the view.

4 Tap OK to change the name of the view.
5 Tap Cancel to keep the previous name.
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3.3.4 Settings
Continued
Deleting views
1 In the Settings tab, tap and hold the view
name.
2 Select Delete.
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3 The view is deleted.
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Hiding/showing non-numeric schedule components
1 In the Settings tab, tap Advanced.
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3.3.4 Settings
Continued
2 A new window opens showing the configur-
able non-numeric schedule components.
If the box beside the name of the schedule
component is selected, the component is
visible.
3 If the box beside the name of the schedule
component is not selected, the component
is hidden in the schedule editor.
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Note
If a non-numeric schedule component is hidden, the value of that component

will always be set to OFF when creating or saving schedules from the Schedule
Management window.
Changing numeric schedule components for on-line tuning
1 In the Settings tab, tap Tuning.
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2 A new window is displayed showing all nu-

meric schedule components that can be
configured to be used for on-line tuning in
Robotware Arc.
3 If the check box beside the schedule com-
ponent is selected, the component has
been selected for online tuning.
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3.3.4 Settings
Continued
Note
If selected schedule components for on-line tuning have been changed,

Robotware Arc must be restarted in order for the changes to take effect.
No power source tuning is allowed when controller is in AUTO mode. The power
source tuning components will be hidden in RobotWare Arc tuning window.

3.4.1 Open backup and restore window
3.4 Backup and restore schedules
3.4.1 Open backup and restore window
Instruction
1 Tap Backup and restore.
2 In this window you can select to:
Back up the schedule memory.
Restore the schedule memory.
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Note
The only file format supported is SID (*.sid).

3.4.2 Backup schedules
3.4.2 Backup schedules
Instructions
1 Tap Backup SID file.
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2 A default file name is suggested.

3 If you want to change search path and file
name:
Tap the ... button to change the file name.
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4 Tap Backup to save the SID file.

5 Tap Cancel to cancel the backup.
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3.4.3 Restore schedules
Instructions
1 Tap Restore SID file.
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2 Tap the ... button to select a file.
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3 A new window opens where a file can be

selected.
• Select the file to be opened.
4 Tap OK to continue.
5 Tap Cancel to cancel.
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Continued
6 Tap Restore. The SID file will be loaded
into the power source.
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Note
All existing schedules will be deleted and replaced with the schedules stored in
the SID file.

3.5 Exporting schedule components
3.5 Exporting schedule components
Instructions
Exports all schedule components in one or more schedules to readable form. The
exported file may be imported into any word processor or spreadsheet.
1 In the Backup and Restore window, tap
Export Schedules.
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2 Select the schedules to export.

3 Tap Export.
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4 Save as a text file (*.txt) or a commasepar-

ated file (*.csv).
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3.6.1 Measured welding data
3.6 Viewing measured welding data
3.6.1 Measured welding data
General
When an arc welding program is executing the Integrated Power Source window
showing voltage, current and heat input of process in active arc welding system.
The voltage and current are measured and returned by the power source. These
values are accurate values.
The heat input is calculated from the power and the current welding speed. This
value should only be seen as an estimation of the real heat input.
Note
The calculated heat input applies under ideal conditions.

4 Programming schedules
4.1.1 About schedules
4.1 Overview
4.1.1 About schedules
Introduction
A welding schedule is a set of data that is given a task equivalent to RAPID data
type. The schedule contains components that control the power source. The
schedule is called up from the current seamdata or welddata used in the arc
welding instruction.
Before a welding procedure starts, a schedule is always called up automatically.
This schedule, or a sequence from any number of schedules, remains active until
the welding operation is complete.
The schedule memory contains 99 available schedules defined by numbers 1 - 99.
Note
All 99 schedules are available, but schedule numbers 96 - 99 are special numbers
used when creating user defined synergic lines.

4.2.1 Syneric data values
4.2 Synergic data values – a programming aid
4.2.1 Syneric data values
Introduction
There is a synergic function in the power source to simplify the welding program.
This means that:
• There is a pre-programmed relationship between the wire feed speed and
all other schedule components in the power source.
When programming takes place in synergic mode, only the value for wire
feed is programmed, after which all other variables are calculated
automatically from the synergic line. The synergic line is based on specified
values for method (short arc, spray arc or short pulsed arc), material, wire
size and gas mixture. A synergic setting also covers other variables that
affect the process: Dynamic Properties, etc.
• Synergic settings are often adequate as final settings. However, sometimes
you have to view it as an aid for preliminary setting of data values. In certain
cases these must be adjusted using non-synergic settings for various types
of joint, welding positions, torch angles, electrode projection, surface quality,
etc.
• More schedule components are available when welding programming is
undertaken in non-synergic mode. The advantage is that the welding operation
can be adapted to more specific requirements.
• When switching from synergic to non-synergic mode the system retains the
data values set in the synergic mode.
• When switching in the opposite direction, from non-synergic to synergic
mode, the data values are changed back to the synergic values.

4.3.1 Settings
4.3 Schedule components
4.3.1 Settings
Introduction
Which schedule components that are used is depending on the following settings:
• Mode
• Method
• Material
• Gas
• Wire size
The schedule components displayed in a schedule can vary depending on:
Setting Description
Mode The welding mode indicates if the power source uses normal schedule
mode or Super pulse.
Only applicable to MigRob500 and AristoMig 500 Integrated and similar.
Method Each method has a specific maximum set of schedule components.
Material The method determines the available wire materials.
Gas The method and material determine the available gases.
Wire size The method, material and gas selected determine the available wire
sizes.
Note
There may be more than one option for certain diameters; this is indicated
by high or low. Select the most appropriate with regards to the wirefeed
speed.
Hotstart and These functions must be accompanied by specific schedule components.

craterfill
Synergic In synergic mode, schedule components automatically calculated by the
system are hidden.
Conditions The conditions for the various components are described in section
Method on page 57 and onwards.
Synergic mode The appropriate combination of method, material, gas and wire size
defines a synergic line, which is automatically used by the system in
synergic mode.
Non-synergic In non-synergic mode, the process is not affected by the values of the
mode components' material, gas and wire size.

4.3.2 Mode
4.3.2 Mode
Introduction
Specifies the welding mode of the power source. Available settings are:
• Normal
• Super pulse
Note
Only applicable to MigRob500 and AristoMig 500 Integrated and similar.
Normal
Welding with the parameters specified in the specific schedule.
Super pulse
The power source pulses between two different schedule settings, called instance
1 and 2.
Note
When Super pulse is activated some of the schedule components can only be
used in either one of the instances. These schedule components are related to
start and stop/end. The power source always starts with instance 1 settings and
stops/ends with instance 2 settings.
Instance 1 Instance 2
Creepstart
Hotstart
Craterfill
Burnback time
Final pulse

4.3.3 Method
4.3.3 Method
Selectable methods
The methods that can be selected are:
• Short arc
• Spray arc
• Short pulsed arc
xx1400001808
Available schedule components

The schedule components available in a schedule depends on the method selected.
If you change method when editing a schedule, the following changes may occur
automatically:
• The schedule components available.
• Both numeric and non-numeric values of the remaining components may be
changed.
• Synergic will always be ON.
Synergic is ON
If Synergic is ON, the power source calculates the values for components using
the current synergic line and the current speed reference for the wire feed. These
calculated components are not displayed in the schedule when editing takes place
in synergic mode.
Synergic is OFF
If Synergic is OFF, the components and their calculated values are visible in the
schedule. There is no difference to the welding process whether Synergic is ON
or OFF.
Short arc and spray arc

The following schedule components are available for the short arc and spray arc
methods:
• Method
4.3.3 Method
Continued
• Material
• Gas
• Wire size
• Creepstart
• Hotstart
• Craterfill
• Synergic
• Wirefeed speed
• Voltage
• Hotstart - wire feed speed I
• Hotstart voltage II
• Hotstart time I
• Dynamic properties
• Regulator III
• Final wirefeed speed IV
• Final voltage V
• Craterfill time IV
• Burnback time
• Final pulse
• Phase time VI
I Available if Hotstart is ON
II Available if Hotstart is ON and Synergic is OFF
III Available if Synergic is OFF
IV Available if Craterfill is Short arc craterfill
V Available if Craterfill is Short arc craterfill and Synergic is OFF
VI Available if welding mode is in Super pulse mode
Short pulsed arc

• Method
• Material
• Gas
• Wire size
• Creepstart
• Hotstart
• Craterfill
• Synergic
• Wirefeed speed
• Arc length
• Hotstart - wire feed speed I
• Hotstart - arc length II
• Hotstart time I
• Pulse current III

4.3.3 Method
Continued
• Pulse time III

• Background current III
• Frequency III
• Slope III
• Ka III
• Ki III
• Final wirefeed speed IV
• Final arc length V
• Final voltage VI
• Final pulse current V
• Final background current V
• Final frequency V
• Craterfill time IV
• Burnback time
• Phase time VII
I Available if Hotstart is ON
II Available if Hotstart is ON and Synergic is OFF
III Available if Synergic is OFF
IV Available if Craterfill is Short pulsed arc craterfill or Short arc craterfill
V Available if Craterfill is Short pulsed arc craterfill and Synergic is OFF
VI Available if Craterfill is Short arc craterfill and Synergic is OFF
VII Available if welding mode is in Super pulse mode
Example of changing method

You can change method within the same welding operation. In this example, welding
begins using the spray arc method and continues using short pulsed arc. Assume
that welddata wd5 and wd6 is created and that seamdata sm3 is created. wd5 is
using the schedule 5 and wd6 is using the schedule 6.
Schedule no. 5 Spray arc

Schedule no. 5 using spray arc method:
Mode Normal
Method Spray arc
Material AlSi 5
Gas Ar
Wire size 1.2 mm
Creepstart Off
Hotstart Off
Craterfill Off
Synergic On
Wirefeed speed 12.00 m/min.
Voltage 0.00 V
Dynamic properties 70%

4.3.3 Method
Continued
Burnback time 0.12 sec.
Schedule no. 6 Short pulsed arc

Schedule no. 6 using short pulsed arc method:
Mode Normal
Method Short pulsed arc
Material AlSi 5
Gas Ar
Wire size 1.2 mm high
Creepstart Off
Hotstart Off
Craterfill Off
Synergic On
Wirefeed speed 12.00 m/min.
Arc length 0.00
Burnback time 0.12 sec.
Program code
Program code used in this example:
ArcLStart *, v600, sm3, wd6, fine, tool;
ArcL *, v600, sm3, wd5, z5, tool;
ArcLEnd *, v600, sm3, wd6, fine, tool;

4.3.4 Creepstart
4.3.4 Creepstart
Description
Creepstart is an integrated ignition function used to reduce the wire feed speed
until the arc is ignited. The wirefeed speed is reduced to 50% of the speed in the
current schedule until the arc is stabilized.
Another way of influencing the conditions until the arc is ignited is to use an ignition
schedule in seamdata. However, creepstart and ignition schedule should not be
used in combination.
xx1400001814
Note
If the method is changed when editing a schedule, the value for creepstart may
sometimes change automatically. If so, the new creepstart value becomes the
same as the most recently used value in the selected method.

4.3.5 Hotstart
4.3.5 Hotstart
Description
Hotstart is an OFF/ON function that provides increased heat input at the start of
welding in order to reduce the risk of defects.
Hotstart is defined in the schedule called up at weld start. The function actuates
the process for a specific period defined in Hotstart time, which begins when the
arc is ignited.
Hotstart - wirefeed speed functions as a relative value for the wirefeed speed set
in the schedule.
In synergic mode, the system automatically selects a higher voltage during the
hotstart time. The synergic line is changed temporarily to a slightly higher voltage
level. The size of the voltage correction is dependent on the synergic line. The
hotstart voltage is not shown in synergic mode.
xx1400001815
Hotstart ON
The following components are available when Hotstart ON is selected:
• Hotstart - wire feed speed (relative value).
• In non-synergic mode: Hotstart voltage or Hotstart arc length dependent on
selected method.
• Hotstart time.
Note
Schedule change during hotstart time is not recommended.

Status of hotstart (ON) and the original hotstart time will be retained once they
have been initiated regardless of what has been programmed in subsequent
schedules that may be called up before the hotstart time is over. In such cases,
all new wirefeed and voltage references, basic values as well as offset values, for
hotstart will apply on call-up even if these include hotstart OFF. The user must

4.3.5 Hotstart
Continued
therefore check that the components in subsequent schedules have the required
values.
Note
There is also a heating function in seamdata (seamdata Heat). Using a

combination of the components Hotstart and seamdata Heat is not
recommended. In cases where more schedule components will need to be
adjusted it is better to use the Heat function instead.
Example of hotstart
In this example a hotstart is executed as follows:
• Hotstart for two seconds once the arc is ignited.
• The wirefeed speed during the hot start time is 8.00 m/min.
Hotstart is defined in ignition schedule 3 in seamdata sm3. See screenshot of sm3
below.
xx1400001816

4.3.5 Hotstart
Continued
The hotstart function uses the wirefeed speed in the schedule, in welddata wd3,
which in this case is the same schedule:
xx1400001817
Program code:
Schedule 3 Short arc

Schedule 3 is defined as:
Mode Normal
Method Short arc
Material Fe
Gas Ar+8% CO2
Wire size 0.8 mm
Creepstart Off
Hotstart On
Craterfill Off
Synergic On
Wirefeed speed 6.00 m/min
Voltage 0.00 V
Hotstart - wirefeed speed 2.00 m/min
Hotstart time 2.00 sec
Burnback time 0.12 sec

4.3.6 Craterfill
4.3.6 Craterfill
Description
Craterfill is an ON/OFF function. It provides ramped craterfill by means of the
welding values decreasing in stationary mode at the end of the welding operation.
This is done to reduce the risk of defects in the weld's end crater.
xx1400001818
Variants
There are two variants of craterfill
• Short arc craterfill
• Short pulse craterfill
Both these can be used after a short pulsed arc phase.
Only short arc fill can be used after short arc or spray arc welding.
Note
There is also a filling function in seamdata.

The special feature of seamdata filling is a cooling process where the arc is
temporarily shut off.
After cooling, seamdata filling can be performed in the same welding schedule
or in a separate filling schedule that is called up.
The user can define either ramped craterfill, seamdata filling or both.
Ramped craterfill can be used before and/or after cooling.
Components in synergic mode

In synergic mode, the following components are available:
• Craterfill time
• Final wirefeed speed

4.3.6 Craterfill
Continued
Components in non-synergic mode

In non-synergic mode, the following components are available:
• Craterfill time
• Final wirefeed speed
• Final voltage with short arc fill
• Final arc length with short pulse fill
• Final pulse current with short pulse fill
• Final background current with short pulse fill
• Final frequency with short pulse fill
Craterfill, example 1: Ramped craterfill (no cooling)

Craterfill is defined in the schedule used in ArcWare welddata, in this case
schedule 3 in welddata; wd3. See screenshot of wd3 below.
xx1400001817
If the filling function is available, in this case the filling time must be set to 0 in
seamdata schedule sm3.
Program code

Mode Normal
Method Short arc
Material Fe
Gas Ar+8% CO2
Wire size 0.8 mm

4.3.6 Craterfill
Continued
Craterfill Short arc fill

Creepstart Off
Hotstart Off
Synergic On
Voltage 0.00 V
Final wirefeed speed 4.00 m/min
Craterfill time 2.50 sec
Craterfill, example 2: Ramped craterfill and filling with cooling

Craterfill is not defined in the schedule used in ArcWare welddata, in this case
schedule 4 in welddata; wd4. See the figure below.
xx1400001819
Craterfill is defined in the filling schedule used in ArcWare seamdata sm4. In sm4,
0.01 seconds' filling time is used for initiation of craterfill by calling up schedule 3.
The cooling time in this example is 1 second.

4.3.6 Craterfill
Continued
See screenshot of sm4 below.
xx1400001820
Program code
ArcLStart *,v600, sm4, wd4, fine, tool;

Mode Normal
Method Short arc
Material Fe
Gas Ar+8% CO2
Wire size 0.8 mm
Craterfill Short arc fill
Creepstart Off
Hotstart Off
Synergic On
Voltage 0.00 V
Final wirefeed speed 4.00 m/min
Craterfill time 2.50 sec

4.3.6 Craterfill
Continued
Schedule
Short arc
Mode Normal
Method Short arc
Material Fe
Gas Ar+8% CO2
Wire size 0.8 mm
Craterfill Off
Creepstart Off
Hotstart Off
Synergic On
Voltage 0.00 V

4.3.7 Synergic
4.3.7 Synergic
Description
The power source can be used in both synergic and non-synergic mode.
Synergic means that certain values used in the process are calculated by the
system on the basis of a synergic line once a wire feed speed is selected. This
procedure follows the original principle of "one knob control".
The number of components shown in a schedule is dependent on whether synergic
or non-synergic mode has been selected. Information on available schedule
components can be found in the Method section.
xx1400001821

4.3.8 Wirefeed speed
4.3.8 Wirefeed speed
Description
The wirefeed speed for the welding electrode.
Adjustment range
The adjustment range for the wirefeed speed is dependent on the type of wire feed
unit and power source used. The speed range is displayed automatically in the
schedules used. The wire feed unit's speed range is specified in the description
of the unit in the Welding equipment manual.
Synergic ON
When synergic is ON, changes to the wirefeed speed affect the welding voltage
and other variables included in the synergic line calculation.
Synergic OFF
When synergic is OFF, changes to the wirefeed speed do not affect any other
components.
References
The wire feed speed range is described in the product manual for the welding
equipment.

4.3.9 Voltage
4.3.9 Voltage
Description
Voltage is available when short arc or spray arc has been selected as method.
Voltage adjustment is used for fine tuning of the arc so that the process remains
stable.
One fundamental feature of both methods is that an increased voltage value
increases the arc length and heat input, and a reduced voltage value reduces the
arc length and heat input.
Control of the welding voltage differs depending on whether synergic or
non-synergic mode has been selected.
xx1400001822
Synergic ON
In synergic mode, the welding voltage is calculated from the synergic line. The
welding voltage can be adjusted +/- from the synergic line. The working area is
dependent on the values selected for the components' material, gas and wirefeed
speed. The absolute value of the voltage is shown in brackets as information.
The relationship between wire feed speed and voltage is shown in graphic form
below.

4.3.9 Voltage
Continued
Voltage
xx1400001823
Synergic OFF
The programmed voltage value is the actual voltage value used (absolute value).
Minimum and maximum for the operation values are determined by all factors in
the application, including method, material, gas, wire size and wire feed speed.
Available
Voltage is available when short arc or spray arc are selected.

4.3.10 Arc length
4.3.10 Arc length
Description
When short pulsing is selected as method, voltage is replaced by a setting for arc
length. One fundamental feature is that an increased arc length value increases
the arc's length and heat input, and a reduced arc length value reduces the arc's
length and heat input. Arc length functions in the same way as voltage with regard
to synergic settings and has roughly the same value range as voltage, however,
Arc length is not a quantity but a unit.
Available
Arc length is available when short pulsed arc is selected.

4.3.11 Dynamic properties
4.3.11 Dynamic properties
Description
Dynamic properties is an electronic inductance control that is used to control the
current rise during the short circuit phase in the short arc cycle.
It is used to fine-tune short arc welding by regulating the short circuit frequency,
heat input and molten pool. It is particularly useful when CO2 is used as shielding
gas.
Dynamic properties influences the heat input, depth of penetration and quantity of
welding spatter. Low values provide less heat input, and higher values provide
greater heat input.
Dynamic properties regulates the size of the globules in short arc welding. With
spray arc welding, the process is only influenced during the ignition phase when
the wire is shortcircuited against the workpiece.
Available
Dynamic properties is only available with the short arc and spray arc methods.
Adjustment range
The adjustment range is 0 - 100%.

4.3.12 Regulator type
4.3.12 Regulator type
Introduction
There are 12 different types of regulators.
Regulator type 1
Regulator type 1 is designed for Ar and CO2 welding.
Regulator type 1 is suitable for standard short arc welding.
Regulator type 2 - 5
Regulator type 2 - 5 are designed for CO2 welding with various wire sizes and are
selected automatically in synergic mode.
• Optional regulator type 2 - 5 can be selected by the user in order to the
process.
Regulator type 6
Regulator type 6 is designed for Ar and CO2 welding.
Regulator type 6 produces less heat and is therefore suitable for high-speed welding
with short arc.
Regulator type 7 - 12
Regulator type 7 - 12 are experimental versions without a specified purpose.
Regulator type is only available with the short arc and spray arc methods in
non-synergic mode.
Note
Changing regulator type is not recommended.

4.3.13 Pulse current
4.3.13 Pulse current
Description
Pulse current is the pulse's amplitude (see Diagram- short pulsing components on
page 81). In synergic mode the amplitude is dependent on selected values for
material, gas and wire size.
A higher pulse current provides greater pinch off current and alters the arc shape.
Pulse current and pulse time can be combined in order to alter the shape of the
arc from concentrated to broad, which affects weld penetration and weld width.
The arc's length is also affected.
Adjustment range
The adjustment range is 100 - 600 A.
Available
Pulse current is only available when short pulsing and synergic OFF are selected.

4.3.14 Pulse time
4.3.14 Pulse time
Description
The pulse time controls the pulse current's duration for short pulsing and includes
the slope on one side of the pulse (see Diagram- short pulsing components on
page 81).
Adjustment range
The adjustment range is 1.7 - 11.0 milliseconds.
Available
Pulse time is only available when short pulsing and synergic OFF are selected.

4.3.15 Background current
4.3.15 Background current
Description
Background current is the current level between the pulses (see on page 63). The
background current maintains the arc between the pulses. The background current
affects the arc length and stability.
Adjustment range
Available
Background current is only available when short pulsing and synergic OFF are
selected.

4.3.16 Frequency
4.3.16 Frequency
Description
The frequency controls the length of the pulse cycle and directly affects the duration
of the background current (see Diagram- short pulsing components on page 81).
The frequency has a big influence on the arc length and the heat input to the
workpiece.
Adjustment range
The adjustment range is 38 - 312 Hz.
Available
Frequency is only available when short pulsing and synergic OFF are selected.

4.3.17 Slope
4.3.17 Slope
Description
Slope controls the pulse's up and down ramping time.
Adjustment range
Slope is defined by a value between 1 and 9 on a proportional scale. The value of
1 equates to the shortest time and the value of 9 equates to the longest time.
Available
Slope is only available when short pulsing and synergic OFF are selected.
Diagram- short pulsing components
xx1400001824

4.3.18 Ka
4.3.18 Ka
Description
Ka is a proportional gain factor for control of the arc length. Ka has an individual
synergic line. Ka is expressed as a percentage value representing the gain factor.
Adjustment range
• 0% provides the slowest regulation.
• 100% provides the fastest regulation.
If the process has been set to self-oscillation or is unstable, try reducing Ka to a
lower value.
Available
Ka is only available when short pulsing and synergic OFF are selected.

4.3.19 Ki
4.3.19 Ki
Description
Ki is the gain factor.
Ki is expressed as a percentage of the maximum permitted value.
Adjustment range
• 0% provides the slowest integration.
• 100% provides the fastest integration.
The standard value can probably be used for all applications, and so Ki does not
normally need to be adjusted.
Available
Ki is only available when short pulsing and synergic OFF are selected.

4.3.20 Final wirefeed speed
4.3.20 Final wirefeed speed
Description
Final wirefeed speed is the wire feed speed at the end of the craterfill time.
Adjustment range
If this value is lower than the set value for wire feed speed in the current schedule,
the system will ramp down the speed during the crater filling time.
Final wirefeed speed cannot be given a higher value than that for wire feed speed
in the current schedule.
Available
Final wirefeed speed is only available when craterfill has been defined.

4.3.21 Final voltage
4.3.21 Final voltage
Description
Final voltage is the final voltage value at the end of the craterfill time.
Adjustment range
The adjustment range for voltage is approximately 8 - 50 V.
Available
Final voltage is only available when short arc fill and synergic OFF are selected.

4.3.22 Final arc length
4.3.22 Final arc length
Description
Final arc length is the final arc length value at the end of the craterfill time.
Adjustment range
The adjustment range for arc length is approximately 8 - 50.
Available
Final arc length is only available when short pulse fill and synergic OFF are selected.

4.3.23 Final pulse current
4.3.23 Final pulse current
Description
Final pulse current is the pulse current value at the end of the craterfill time.
Adjustment range
If this value is lower than the set value for cutting pulse current in the current
schedule, the system will ramp down the pulse current during the craterfill time.
Final pulse current cannot be given a higher value than that for the pulse current
in the current schedule.
Available
The schedule component is only used when short pulse fill and synergic OFF are
selected.

4.3.24 Final background current
4.3.24 Final background current
Description
Final background current is the background current at the end of the craterfill time.
Adjustment range
If this value is lower than the set value for background current in the current
schedule, the system will ramp down the current during the craterfill time.
Final background current cannot be given a higher value than that for background
current in the current schedule.
Available
Final background current is only available when short pulse fill and synergic OFF
are selected.

4.3.25 Final frequency
4.3.25 Final frequency
Description
Final frequency is the frequency at the end of the craterfill time.
Adjustment range
The adjustment range is 38 - 312 Hz.
If this value is lower than the set value for frequency in the current schedule, the
system will ramp down the frequency during the craterfill time.
Final frequency cannot be given a higher value than that for frequency in the current
schedule.
Available
Final frequency is only available when short pulse fill and synergic OFF are selected.

4.3.26 Craterfill time
4.3.26 Craterfill time
Description
The craterfill time is the down ramping time at the end of the weld when the robot
has stopped at the end position.
Adjustment range
The adjustment range is 0 - 10 seconds.
Available
Craterfill time is only available with short arc fill or short pulse fill.

4.3.27 Burnback time
4.3.27 Burnback time
Description
Burnback time is used to prevent the electrode getting stuck in the cooling molten
pool once the welding process is complete.
The burnback time is the time the welding current remains on once the wire feeding
has stopped.
Adjustment range
The adjustment range is 0 - 1 seconds
Suggested values:
Aluminium 0.05 sec
Steel 0.05 - 0.13 sec

4.3.28 Final pulse
4.3.28 Final pulse
Description
Final pulse controls the amplitude of the ”pinch off” at the end of the process after
the backburn time.
The high current cuts off the final globule from the wire and forces it into the still
liquid molten pool so that the wire is cleaned ready for the next welding operation.
The value is a percentage value of an internally calculated value based on current
and wire type.
Adjustment range
For thin sheet, a low value must be considered. A high value applies high pressure
on the molten pool.
Available
Final pulse is only available when the short arc or spray arc method and synergic
OFF are selected.

4.3.29 Touch sense current
4.3.29 Touch sense current
Description
The current that must flow between the wire and the material before the power
source signals that it has contact.
See ESAB manual for current setting range.
Note
Only applicable to MigRob500 and AristoMig 500 Integrated and similar

4.3.30 Phase time
4.3.30 Phase time
Description
Phase time is the time that the power source welds with the individual schedule
during Super pulse welding.
Setting range
The setting range is 1 - 25 ms.
Available
The phase time is available only if Super pulse is selected as the welding mode.

5 Predefined synergic lines
5.1 Introduction

5.1 Introduction
Description
There are predefined synergic lines for the power source. The purpose of the
synergic lines is to help the user set up a functional welding process.
This chapter contains:
• A description of the geometric welding process that ABB used for
development of the synergic lines.
Note
A synergic line is based on data developed in an established laboratory

procedure. The welding result from this kind of procedure is not optimised
precisely for all actual arc welding applications. If it provides stable, if not yet
fully optimised conditions in the initial development stages of the welding process.
If necessary, the user can switch to non-synergic mode to further optimise
required schedule components.

5.2 Setting the welding process
Introduction
The geometric conditions used for the settings are:
Cutaway view of the workpiece and welding torch
xx1400001825
90 degree fillet weld in horizontal position. The welding torch is positioned vertically.
Sectional view of the weld path and the welding torch's position
xx1400001826
Sectional view of the weld path and the position of the welding torch.
Settings
Process description Torch angle in degrees Electrode extension in mm

Spray arc 15 20
Short arc 15 15
RAPID PROCESS i 40 25

Continued
Process description Torch angle in degrees Electrode extension in mm

Short-pulsed arc (short 15 15
pulsing)
i RAPID PROCESS TM is a trademark owned by Aga Gas AB. Within the framework of the RAPID
PROCESS concept, a method using a short-circuiting arc can be employed for very high welding
speeds. The synergic lines for short arc welding are extended for the RAPID PROCESS field.

6 Rapid command *Load
6.1 Load the .sid file

Introduction
The RAPID command *Load is used to load the .sid file from a storage medium
to the memory in the power source.
Note
* is valid for
• Arci (Arcitec IRC5)
• MigRob (MigRob 500)
• AristoMig (AristoMig 500 Integrated)
Example
*Load "HOME:/AWdata.sid" \UnitName:="B_AW_PROC_40";
All the schedules in the file AWdata.sid in the HOME directory are loaded in to the
schedule memory on the power source with the I/O unit name B_AW_PROC_40.
Argument
*Load FileName \UnitName
FileName
Data type: string
The file name.
UnitName
Data type: string
The unit name. The standard name is specified in PROC in CFG.
Example
Use *Load at the beginning of procedures to load the .sid file.
MODULE WELD
PROC main
part1;
part2;
ENDPROC
PROC part1
! Loading the schedule from the part1.sid file
*Load "HOME:/part1.sid" \UnitName:="B_AW_PROC_40";
...
ENDPROC
PROC part2
! Loading the schedule from the part2.sid file
*Load "HOME:/part1.sid" \UnitName:="B_AW_PROC_40";
...

Continued
ENDPROC
ENDMODULE
Syntax
*Load
[ FileName ':=' ] < phrase (IN) for string > ';'
[ \UnitName ':=' ] < phrase (IN) for string > ';'
Reference document
Described in:
Saving the .sid file Instructions - MigRobStore
Setting numeric parameters Instructions - MigRobTune
Restoring See Restore schedules on page 49

7 Rapid command *Store
Note
* is valid for

7.1 Saving the .sid file
Introduction
The rapid command *Store is used to save all schedules in the MigRob memory
to a storage medium.
Example
*Store "HOME:/AWdata.sid" \UnitName:="B_AW_PROC_40";
All schedules in the power source with the I/O unit name B_AW_PROC_40 are saved
to the AWdata.sid file in the HOME directory. The file extension should be .sid.
Argument
*Store FileName \UnitName
FileName
Data type: string
The file name.
UnitName
Data type: string
Example
Use *Store at the end of procedures to save the .sid file.
MODULE WELD
PROC main
part1;
part2;
ENDPROC
PROC part1
! Saving the schedule to the part1.sid file
*Store "HOME:/part1.sid" \UnitName:="B_AW_PROC_40";
...
ENDPROC
PROC part2
! Saving the schedule to the part2.sid file
ArciStore "HOME:/part2.sid"
\UnitName:="B_AW_PROC_41";
...
ENDPROC
ENDMODULE
Syntax
*Store
[ FileName ':=' ] < phrase (IN) for string > ';'
[ \UnitName ':=' ] < phrase (IN) for string > ';'

Continued
Reference document
Described in:
Loading the .sid file Rapid command *Load on page 99
Setting numeric parameters Instructions - MigRobTune
Manual backup See Backup schedules on page 48

8 Rapid command *Tune
Note
* is valid for

8.1 Setting Numeric Schedule Components
Introduction
The rapid command *Tune is used to set the numeric schedule parameters in the
power source.
Example
VAR num parid;
...
parid := 20;
*Tune\Offset, parid, 0.5;
The parameter with the identity of 20 is increased by 0.5.
Argument
*Tune [\Offset] | [\Write] ParId Value
[\Offset]
Data type: switch
The argument \Offset is used when an increment is to be added in a numeric
parameter.
[\Write]
Data type: switch
The argument \Write is used when a numeric parameter is to be given a new
value.
ParId
Data type: num
Parameter identity.
Value
Data type: num
If the switch argument \Offset is active, the Value argument is an increment
added to the existing value of the numeric parameter defined by the ParId
argument. The increment can be positive or negative.
If the switch argument \Write is active, the Value argument is the new value of
the numeric parameter defined by the ParId argument.
UnitName
Data type: string
Example
Use two programmable buttons for the settings (one to increase and one to reduce
parameter values). You can configure which signals and buttons you want to link
up on the FlexPendant control panel under programmable buttons.
MODULE WELD
!Global parameter declaration num parid;

Continued
PROC main
! Method for determining parameter identity
SetUpParId(parid);
! Connecting two Trap drivers (simulated) to digital
inputs
! actuated by the programmable buttons.
CONNECT intno1 WITH IncPar;
ISignalDI, 1, intno1;
CONNECT intno2 WITH DecrPar;
ISignalDI, 1, intno2;
! Main sequence
...
! Switching off the Trap drivers
IDelete intno1;
IDelete intno2;
ENDPROC
! Trap driver for increasing the value in steps of 0.5
TRAP IncPar
*Tune\Offset, parid, 0.5;
ENDTRAP
! Trap driver for reducing the value in steps of 0.5
TRAP IncPar
*Tune\Offset, parid, -0.5;
ENDTRAP
ENDMODULE
Syntax
*Tune
[ '\'Offset',' ] | [ '\'Write',' ]
[ ParId ':=' ] < phrase (IN) for num > ','
[ Value ':=' ] < phrase (IN) for num > ';'
[ '\'UnitName ':=' ] < phrase (IN) for string> ';'
Reference document
Described in:
Saving the .sid file Rapid command *Store on page 101
Loading the .sid file Rapid command *Load on page 99

Index
Index signals in manual, 11

symbols, 11
safety signals
D in manual, 11
danger levels, 11
signals
S safety, 11
safety, 9 symbols
signals, 11 safety, 11

ABB AB, Robotics
Robotics and Motion
S-721 68 VÄSTERÅS, Sweden
Telephone +46 (0) 21 344 400
ABB AS, Robotics

Robotics and Motion
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.

Robotics and Motion
No. 4528 Kangxin Highway
PuDong District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics and Motion
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics
3HAC050972-001, Rev B, en


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© Copyright 2004-2018 ABB. All rights reserved.

© Copyright 2004-2018 ABB. All rights reserved.

2 Integrated Power Source applications 15

3 Integrated Power Source application details 19

Application manual - Programming Integrated Power Source 5

4.3.11 Dynamic properties ................................................................................. 75

5 Predefined synergic lines 95

6 Rapid command *Load 99

7 Rapid command *Store 101

8 Rapid command *Tune 105

6 Application manual - Programming Integrated Power Source

Overview of this manual

Who should read this manual?

Application manual - Programming Integrated Power Source 7

Application manual - Programming Integrated Power Source 9

1.2 Safety for arc welding

Safety instructions for arc welding

10 Application manual - Programming Integrated Power Source

1.3 Safety signals in the manual

Introduction to safety signals

CAUTION Warns that an accident may occur if the instructions

NOTE Describes important facts and conditions.

Continues on next page

Symbol Designation Significance

12 Application manual - Programming Integrated Power Source

Switch off all main power switches in a MultiMove system.

Application manual - Programming Integrated Power Source 13

2 Integrated Power Source applications

Limitation for AristoMig Integrated

Application manual - Programming Integrated Power Source 15

2.2 Start the Integrated Power Source

How to start the Integrated Power Source tool:

3 Once the program has been loaded, a

16 Application manual - Programming Integrated Power Source

2.3 Active arc welding system

Active power source information

Continues on next page

18 Application manual - Programming Integrated Power Source

3 Integrated Power Source application details

3.1.1 Open schedule window

Open schedule window

2 All schedules stored in the power

Application manual - Programming Integrated Power Source 19

3.1.2 Create a schedule

2 A numerical keypad is displayed.

5 The schedule window is updating. The

Continues on next page

Application manual - Programming Integrated Power Source 21

3.1.3 Copy a schedule

3 A numerical keypad is displayed.

6 The schedule window is updating. The

22 Application manual - Programming Integrated Power Source

3.1.4 Delete a schedule

3 A dialog box appears to confirm deletion

5 The schedule window is updated.

Application manual - Programming Integrated Power Source 23