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Communication with Robot

RIWA unit, connected to the plant industrial network and configured will be another network device. RIWA electronics can support major industrial communication protocols, such as Devicenet, Profinet, Interbus with 64 bits of input and 64 bits of output data. If plant communication protocol cannot be supported, external discrete I/O device can be used with 8 or 16 inputs and 8 outputs.

Input Signals​

Input data coming to the RIWA unit have to be a digital value of the weld-code (weld-id) as it is in the robot welding schedule. Overall sequence of input signals has to be as it shown on the diagrams:

Input Signals

Output Signals​

Depending on the quality of the processed weld, RIWA will send to the robot:

"pass/not pass" ("1"/"0") bit.

Also RIWA will send "alive" ("1") bit to the robot indicating that the system is in the operating status.

Overall sequence of output signals (feedback) will be as it shown on the diagrams:

Output Signals

The following rules of the output signals (feedback) are used for each weld:

  • If "alive" signal is "0", robot send "weld code" to the RIWA and wait "alive" signal; if "alive" bit is "1", then the system is function properly and robot wait for "pass/not pass" signal;
  • If "pass/not pass" is "1", then continue with the next weld;
  • If "pass/not pass" is "0", then the last weld was "bad".