Integrating FAIRINO Cobot with MEGMEET

Integrating FAIRINO Cobot with MEGMEET

Overview

Integrating a FAIRINO cobot with a MEGMEET welding system requires a robust communication bridge to synchronize robotic motion with critical welding parameters such as voltage, current, and arc ignition. This synchronization is essential to prevent weld defects and ensure operator safety.

This article focus over how you can integrate your cobot with MEGMEET welding system using a cobot as modbus master.



Before delving into the integration details, it's important to know that this kind of integration generally come in two different options distinct system architectures to consider:

Architecture 1: PLC-Centric Control

In this configuration, a programmable logic controller (PLC) acts as the supervisory node for the entire cell.
  • System Logic: The PLC simultaneously manages the FAIRINO cobot arm and the MEGMEET.
  • Data Flow: The PLC sends motion commands to the cobot (often via Modbus TCP or EtherCAT) and parameters (voltage/current) to the welder.




Architecture 2: Cobot-Centric Control 

In this configuration, the FAIRINO cobot acts as the master node, directly commanding the welding equipment.
  • System Logic: The robot controller runs the primary logic (often via LUA scripting). It initiates the weld sequence and adjusts MEGMEET parameters in real-time based on the robot's trajectory.
  • Data Flow: The FAIRINO controller communicates directly with the welder—typically using Modbus TCP to interface with a gateway (like the PXB-6021DM) which then bridges to the welder's internal CANopen or analog protocols.



Warning
Please ensure that the welding machine is operated safely and cannot harm anyone


Implementation Details

Step 1: Identify the Required Welding Registers

The first step is to determine which registers are required by the welding machine.
In this example:
  • Registers 900–908 are used for control input signals.
  • Registers 920–928 are used for feedback signals from the welding machine.
The exact register mapping may vary depending on the MEGMEET model and gateway configuration, so always verify the correct addresses in the welder and gateway documentation.


Step 2: Configure the Gateway IP Address

Configure the IP address of the Modbus-to-CAN gateway so that it is on the same subnet as the FAIRINO controller.
For example:
  • FAIRINO Ethernet Port 0 Default IP Address: 192.168.57.2
  •  Modbus-to-CAN gateway IP Address: 192.168.57.xx
Where xx can be any valid value on the subnet except (2).
For instance, you could assign the gateway the address:
192.168.57.10
This ensures that both devices can communicate over the same local network.


Step 3: Connect the Devices

Once the gateway IP has been configured:
  1. Connect the gateway to the FAIRINO controller through Ethernet.
  2. Use the secondary ethernet port (the port located near the yellow emergency stop box, if applicable).
  3. Open the FAIRINO web application.
  4. Configure the modbus master connection using the gateway IP address.
When the connection is established successfully, the system should display a green connection status icon next to the gateway information.


Warning
The next section steps might affect the operation of the welding machine, please ensure that the welding machine is operated safely and cannot harm anyone.

Step 4: Add the Required Registers

After communication has been established, you can begin adding the required modbus registers.
Start by adding:
  • Register 900 through Register 908 for control
  • Register 920 through Register 928 for feedback
    At this stage, you can initially assign arbitrary values for testing purposes.
Depending on the gateway and welding machine configuration, these registers may correspond to:
  • Welding voltage
  • Welding current
  • Torch start/stop
  • Arc enable
  • Wire feed speed
  • Error codes
  • Welding status feedback



Step 5: Test Register Behavior Carefully

Once the registers are configured, you can begin testing how the welding machine responds to different values.
Changing register values may directly affect:
  • Arc ignition
  • Welding current
  • Voltage output
  • Torch state
  • Overall machine operation
Always perform initial tests in a safe environment and ensure that the welding machine is not connected to a live workpiece until the register behavior is fully understood.


Step 6: Abstracting Welding Operations in LUA

After validating the required register behavior, you can simplify your robot program by creating reusable LUA functions that abstract the welding operations.

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