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A3 MIG Welder© Kemppi Oy 2018 1826
OPERATING MANUAL
4.8 Touch sensor (seam search)
The touch sensor is a specic functional system used in
automated welding for nding workpieces accurate lo-
cation and position. The touch sensor hardware and I/O
are in the welding power source. A welding robot nds
the edges of the workpiece by touching them either with
a welding wire or a gas nozzle. Touches are detected by
the touch sensor and the information is passed on to the
robot controller.
The touch sensor generates a sensing voltage separately
from the welding power source. Touch is detected when
there is a short-circuit between the workpiece and the
sensing tool resulting in a voltage drop. The negative
pole of touch sensor’s voltage source is connected to a
welding minus. The positive pole of the sensor is connect-
ed either to a welding plus or a gas nozzle. The target for
the positive pole can be changed by a user. A relay in the
touch sensor device enables the conguration by a DIP
switch.
The touch sensor system consists of hardware and soft-
ware. The hardware consists of a touch sensor device and
wiring in the wire feeder’s control cable for the gas nozzle
use (see Figure 4.4, Touch sensing system). The software
enables conguration and control. The touch sensor is
congured by using DIP switches, and it is controlled by
the welding robot via the digital robot interface.
2
3
1
Figure 4.3 Touch sensor in the power source
1. Touch sensor device inside the welding power source
2. Wire feeder control cable connector (wiring for the gas
nozzle)
3. Fieldbus / Digital robot interface
Fieldbus
7
4
3
2
1
8
6
5
Figure 4.4 Touch sensing system
1. Conguration (DIP switches)
2. Welding plus (welding wire touch sensing)
3. Wire feeder control cable (gas nozzle touch
sensing)
4. Fieldbus / Digital robot interface
5. Peripheral connector
6. Touch tool (welding wire or gas nozzle)
7. Touch detection
8. Welding minus (touch sensor ground)
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