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KR C...
ArcTechDigital 2.2
for power sources with program number control
Configuration
for KUKA.KR C 5.2, 5.3, 5.4
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e Copyright KUKA Roboter GmbH
This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers.
Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, in
the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies
cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a
regular basis, however, and necessary corrections will be incorporated in subsequent editions.
Subject to technical alterations without an effect on the function.
PD Interleaf
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Contents
1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.1 System requirements, Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1.2 Overview of the configurable options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
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ArcTechDigital 2.2
10 Further options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
10.1 Program test in manual mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
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10.2 Ignition fault message suppression option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
10.3 Seam monitoring delay option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
11 Mechanical weaving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
11.1 Block selection response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
11.2 Weave patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
11.2.1 Two--dimensional weaving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
11.2.2 Creating the “Spiral” weave pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
11.2.3 “Figure--of--eight” weave pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
11.2.4 Changing and creating patterns for mechanical weaving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
11.2.4.1 Changing existing weave patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
11.2.4.2 Creating your own weave patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
11.2.5 Notes on mechanical weaving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
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ArcTechDigital 2.2
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1 General
1 General
In the development of a welding robot that is easy and safe to use, top priority was given to
the optimized adaptation of the operator interface and the interfacing capability to welding
equipment with program number control, as well as uncomplicated handling of the
ArcTechDigital technology package.
This is intended to allow the trouble--free operation, parameter and hardware configuration
and programming of arc welding applications. The entire range of KRL commands are
available to you at the expert level. Configuration requires sufficient knowledge of the KRL
programming language.
ArcTechDigital features:
G Menu--guided creation of programs at the user level.
G Simple operation using application--specific softkeys and menus.
G Prepared programs and subroutines.
G Adaptation to the peripheral equipment and configurable options of the digital outputs.
G Simple setting of variables, entries in files and parameter lists.
G Use of the function generators for two--dimensional mechanical weaving as well as the
possibility of configuring your own weave patterns.
G Adaptation to various welding controllers with program number control and their diffe-
rent coding systems.
G Various routines used for ignition faults and monitoring of the number of ignition at-
tempts.
G Restart options in case of faults.
This documentation has been created as a supplement to the documentation [Arc Welding,
ArcTechDigital -- Operation] for the user group Expert. In addition to fundamental
descriptions accompanied by schematic sequence diagrams and screenshots of application
tests, information on standard routines as well as specific “ArcTechDigital” applications have
also been provided. This is intended to make parameter and hardware configuration and the
programming of arc welding applications easier.
In the development of a welding robot that is easy and safe to use, top priority was given to
the optimized adaptation of the operator interface and the interfacing capability to welding
equipment with program number control, as well as uncomplicated handling of the
“ArcTechDigital” technology package.
The entire range of KRL commands are available to you at the expert level. This requires
sufficient knowledge of the KRL programming language.
The “ARC Tech 20” commands “ARC ON”, “ARC OFF” and “ARC SWITCH” are described
in Chapter 2. Among other things, information is provided on variable settings, entries
required in files, and parameter lists.
Chapter 3 provides information on the programs and files contained in the ArcTechDigital
package. Information and notes on “ArcTechDigital”--specific basic settings are provided in
Chapter 4.
Chapter 5 explains adaptation to the peripheral equipment. The configuration of the digital
input and output groups is dealt with in Chapter 6.
The transfer of program numbers is explained in Chapter 7. Chapter 8 contains information
on the restart options.
Chapter 9 finally deals with fault situations and fault service functions. Types of faults that
can occur during the ignition and welding processes, their possible causes and appropriate
corrective measures are described.
Further ArcTechDigital settings can be found in Chapter 10.
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ArcTechDigital 2.2
From system software version 5.1 onwards, technology packages are offered
exclusively as ad--on software modules. These are available on CD--ROM.
The installation, uninstallation, reinstallation and update of technology packages
are described in detail in the documentation
[Installation/Uninstallation/Update of Tech Packages].
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1 General (continued)
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2 Description of the “ArcTechDigital” commands
Approximation is not possible for ARC ON; the torch is stopped exactly at the start of
the seam.
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ArcTechDigital 2.2
ARC ON
Positioning motion
to ignition position
Initialization
Prg_ON_MODE
<>0
Ignition program
number output
Y Current
Timeout I_START_MOVE[ ]
flowing
Y
Synchronization O_ACK_START[ ]
Activation of
monitoring
system
End
ARC ON Process continued with the next ARC OFF
or ARC SWITCH command
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2 Description of the “ArcTechDigital” commands (continued)
ARC_ON ARC_SWI
PRG_SWI_MODE = 1
P0
P1
P2
Prog. no. = 1 Prog. no. = 2
I_WELD_COND [ ]
I_ENB_W_EXT [ ]
Ignition
time
O_WELD_START [ ]
I_START_MOVE [ ]
(O_ACK_START [ ] )
if PRG_ON_MODE<> 0
O_STROB_PGNO
PRG_SWI_MODE = 2
P0’
P1’
P2’
Prog. no. = 1 Prog. no. = 2 Prog. no. = 3
Approximate positioning to the next motion block is not possible with “ARC OFF”; the
motion concludes with the exact positioning at the target point (end of the seam).
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ArcTechDigital 2.2
ARC OFF
Positioning motion to
the end point with
weld velocity of the
ARC_OFF command
Program number
O_STROB_PGNO[ ]
transfer
N I_WELD_END[ ]
Current off
Synchronization O_ACK_WELD_E[ ]
End
ARC OFF
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2 Description of the “ArcTechDigital” commands (continued)
ARC_SWI ARC_OFF
PRG_SWI_MODE = 1
P0
P1
Crater time
+
P2 Prog. no. = 6 Prog. no. = 5 Burnback time
PRG_SWI_MODE = 1 +
Gas postflow time
O_STROB_PGN0 [ ]
O_SEAM_END [ ]
I_WELD_END [ ]
O_ACK_WELD_E[ ]
PRG_SWI_MODE = 2
P0’
P2’
In the interest of efficient operations, approximate positioning should be used for motions
in “ARC SWITCH” commands if exact positioning between individual seam sections is not
absolutely essential.
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ArcTechDigital 2.2
ARC SWITCH
Positioning motion to
the end point with
weld velocity of the
ARC_SWI command
Program number
O_STROB_PGNO[ ]
transfer
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2 Description of the “ArcTechDigital” commands (continued)
ARC_ON ARC_SWI
PRG_SWI_MODE = 1
P0
P1
P2
Prog. no. = 1 Prog. no. = 2
I_WELD_COND [ ]
PRG_SWI_MODE = 1
I_ENB_W_EXT [ ] Ignition
time
O_WELD_START [ ]
I_START_MOVE [ ]
(O_ACK_START [ ] )
if PRG_ON_MODE<> 0
O_STROB_PGNO
PRG_SWI_MODE = 2
P0’
P1’
P2’
Prog. no. = 1 Prog. no. = 2 Prog. no. = 3
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3 Programs of the ArcTechDigital package
Information about the hardware periphery of the robot controller can be found in the
[Operating Handbook], chapter “Connector panel / Peripheral interfaces” and in the
[Periphery] handbook.
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ArcTechDigital 2.2
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3 Programs of the ArcTechDigital package (continued)
Flt_serv_d.src Program for fault strategies defined by the user, including ignition faults.
Fault service function (additional START error).
Flt_serv_d.dat Contains local data list for the program “FLT_SERV.SRC”.
You will see the following symbols at various points in this documentation; they indicate
whether manual changes are permitted in the section of a file being described.
Within the section / block shown, the changes or entries described must be made.
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ArcTechDigital 2.2
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4 ArcTechDigital -- basic settings
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ArcTechDigital 2.2
Digitale Eingänge
Fold ArcTech Inputs in “$Config.dat”
Digital inputs Configure physical input
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4 ArcTechDigital -- basic settings (continued)
A20.dat ArcTechDigital permits a variety of coding systems for program numbers for the purpose of
ensuring compatibility with the various welding controllers that are used.
Some Folds from the file ”A20.dat” (in the directory “...\R1\TP\ArcTechDigital”):
Fold Main Options in “A20.dat”
Info
The signal declaration “SIGNAL ARCD_ProgNr $OUT[from] TO $OUT[to]” must corres-
pond to the signal declaration of$Config.dat. If they do not correspond, the program
number output will not function.
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ArcTechDigital 2.2
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4 ArcTechDigital -- basic settings (continued)
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ArcTechDigital 2.2
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5 Principles of the definable signal table
A syntax check is not performed (for example, MIN and MAX values) when entries are
made with the menu function “Monitor -- Variable -- Single” or when the file is edited.
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ArcTechDigital 2.2
Physical outputs
Comment (signal name)
State at initialization
Example of corresponding entries using the menu function “Monitor -- Variable -- Single”:
Variable Type Characteristics
Assignment of the physical output,
O_WELD_CTRL[1].OUT_NR INT
e.g. “10” (default: 0)
State at initialization
(default: FALSE)
O_WELD_CTRL[1].INI BOOL
FALSE = LOW
TRUE = HIGH
20 characters between “ ”; please
note that if the string is changed, any
O_WELD_CTRL[1].NAME_NAT[ ] STRING characters not overwritten (possibly
because they are not visible in the
window) will be retained.
All “O_WELD_CTRL[1].OUT_NR” array elements are set to “0” at the factory, meaning they
are inactive. The element “INI” defines the state to which the respective physical output
“OUT_NR” is to be set on initialization. The value “FALSE” sets the output to “LOW”, the
value “TRUE” to “HIGH”.
The “NAME_NAT[ ]” entries (signal name) are comments with a string length of 20 characters
between the quotation marks (“...”) whose content may be altered (while retaining the string
length!).
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5 Principles of the definable signal table (continued)
If you make any changes to the comments (signal name) “NAME_NAT” directly in the
file “$CONFIG.DAT” please ensure that the length of the string between the quotation
marks (“ ”) is exactly 20 characters long; use blanks if required.
If you use the menu function “Monitor -- Variable -- Single” to make changes, an error
message is displayed if the string exceeds 20 characters.
The following example shows the assignment of the physical outputs and the signal states
after initialization.
Array “O_WELD_CTRL[n] INI” contains the initial value when the INIT routine is running
before reaching the block coincidence movement.
If “NO” is set to “0” (zero), the index is deactivated and is ignored during execution of
the program.
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ArcTechDigital 2.2
Example of corresponding entries using the menu function “Monitor -- Variable -- Single”:
Variable Type Characteristics
Assignment of the physical input,
I_WELD_CTRL[1].IN_NR INT
e.g. “2” (default: 0)
20 characters between “ ”; any char-
I_WELD_CTRL[1].NAME_NAT[ ] STRING
acters not overwritten will be retained.
All “IN_NR” array elements are set to “0” at the factory, meaning they are inactive. The
“NAME_NAT[ ]” entries (signal name) are comments with a string length of 20 characters
between the quotation marks (”...”) whose content may be altered while retaining the
string length. Also see the note in Section 5.2.1.
The following example illustrates the assignment of the physical inputs. “I_WELD_CTRL[1]”
is assigned to physical input no. 2.
Index table “DIGITAL INPUTS” ($CONFIG.DAT, FOLD A20 GLOBALS)
DIGITAL INPUTS
I_WELD_CTRL[1]={IN_NR 2,NAME_NAT[] “WELD SOURCE READY”}
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5 Principles of the definable signal table (continued)
The following example shows a signal table from the file “$CONFIG.DAT” for a digital input.
The element “I_WELD_COND[1].NO” with the value “2” refers to array 2 of the index table
“DIGITAL INPUTS” (I_WELD_CTRL[15]) and thus to the physical input configured in it (see
Section 5.3).
The element “STATE” specifies the awaited state, in this case “TRUE”.
Example of corresponding entries using the menu function “Monitor -- Variable -- Single”:
Variable Type Characteristics
Assignment of the physical input,
I_WELD_COND[1].NO INT
e.g. “2” (default: 0)
Awaited state
I_WELD_COND[1].STATE BOOL
Default: FALSE
Two other input signals are defined in this example as the second and third conditions that
have to be met before welding can be started.
Information on the definition of the terms “index table” and “signal table” can be found in
Section 6.1.
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ArcTechDigital 2.2
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6 Assignment of the signal grouping in normal operation
There is of course no practical application for this setting; this example is merely intended
to illustrate that the reason for missing or incorrect peripheral signals can be an incorrect
value assignment. In such cases, it is therefore advisable to check the setting of the
variables before looking for faults in the hardware.
See also Section 4.2 Minimum configuration for power source interface.
In the signal table “outputs weld start”, assign the value “1” to the variable “NO” in the first
line “O_WELD_START[1]”. The signal level should be static, so enter the value “0.0” for
“PULS_TIME”.
The element “PULSE_TIME” allows the programming of pulse times, if they are not overwrit-
ten by the current programming by means of inline forms or parameter lists. An output can
be static (PULSE_TIME 0.0) or be output in the form of a pulse, in which case the pulse dura-
tion is programmed in seconds. For example, “PULSE_TIME 0.3” corresponds to a pulse
duration of 0.3 seconds.
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ArcTechDigital 2.2
Please note that “PULS_TIME” and “STATE” must be configured accordingly because
the signal is not otherwise reset.
Example:
O_ACK_WELD_E[1]={NO 12, PULS_TIME 0.5,STATE TRUE}
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6 Assignment of the signal grouping in normal operation (continued)
Output 12 STROB_PGNO
HIGH
INI LOW
Please note that “PULS_TIME” and “STATE” must be configured accordingly because
the signal is not otherwise reset.
Example:
O_STROB_PGNO[1]={NO 3, PULS_TIME 0.3,STATE TRUE}
Output 10
HIGH
INI LOW
ARC_ON
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ArcTechDigital 2.2
Output 14 ACK_WELD_E
HIGH
INI LOW
Please note that “PULS_TIME” and “STATE” must be configured accordingly because
the signal is not otherwise reset.
Example:
O_ACK_WELD_E[1]={NO 12,PULS_TIME 0.5,STATE TRUE}
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6 Assignment of the signal grouping in normal operation (continued)
Output 10
INI HIGH
LOW
Index table DIGITAL OUTPUTS
O_WELD_CTRL[13]={OUT_NR 15,INI FALSE,NAME_NAT[] “...”}
Output 15 FLT_ARC_ON
HIGH
INI LOW
ARC_ON
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ArcTechDigital 2.2
Output 10
HIGH
INI LOW
Output 13 FLT_WELD
INI HIGH
LOW
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6 Assignment of the signal grouping in normal operation (continued)
Output 9 FLT_CLEAN
HIGH
INI LOW
Output 8 ACK_FLT
INI HIGH
LOW
Please note that “PULS_TIME” and “STATE” must be configured accordingly because
the signal is not otherwise reset.
Example:
O_ACK_FLT[1]={NO 4,PULS_TIME 1.0,STATE TRUE}
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ArcTechDigital 2.2
See also Section 4.2 Minimum configuration for power source interface.
Signals awaited
at:
Input 1
HIGH signal
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6 Assignment of the signal grouping in normal operation (continued)
Signals awaited
at:
Input 3
HIGH signal
Signals awaited
at:
Input 2
LOW signal
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ArcTechDigital 2.2
Signals awaited
at:
Input 4
HIGH signal
Index table DIGITAL INPUTS
I_WELD_CTRL[5]={IN_NR 5,NAME_NAT[] “...”}
Signals awaited
at:
Input 5
HIGH signal
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6 Assignment of the signal grouping in normal operation (continued)
If you receive the message “Object not found” (no. 2047) while viewing or modifying
variables in the file “A20.DAT”, you must set the value of the variable $DATAPATH[] to
“/R1/A20” (the “ ” characters are part of the string).
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7 Options for program number specification
Parity 0 = default
n = output number ⇒ positive ⇒ “even”
⇒ negative ⇒ “odd”
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7.3
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Program number handshake
O_ACK_WELD._E [ ]
O_ACK_START [ ]
P0
P1
P2
Prog. = 2 Prog. = 3 Prog. = 4
PRG_SWI_MODE=1
O_STROB _PGNO [ ] Default
Prog. no. = 4
P0 Prog. no. = 3
P1
Timing diagram – program number interface (a)
PRG_SWI_MODE= 2
P2
Prog. no. = 2 Prog. = 2 for SGL Prog. = 3 for SGL
but prog. no. 3 is already set! but prog. no. 4 is already set!
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8 Setting the restart options
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9 Enumeration of the signal groups for fault service functions
The descriptions and information in this chapter require the error--free installation, commis-
sioning and configuration of the robot and the hardware and software of the robot controller,
the proper functioning of all peripheral equipment (welding controller, bus systems, etc.)
according to their specifications, and correct programming and parameter settings.
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ArcTechDigital 2.2
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9 Enumeration of the signal groups for fault service functions (continued)
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ArcTechDigital 2.2
Once the causes have been eliminated, the technologies are switched back on again one
after the other.
Opened Folds:
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10 Further options
10 Further options
10.1 Program test in manual mode
For testing programs in manual mode “T1” under real welding conditions, the variable
“PROC_IN_T1” (default value = FALSE) in the block
;FOLD BAS GLOBALS
;%{E}%V2.3.0,%MKUKATPBASIS,%CGLOBALS,%VGLOBALS,%P
in the file “$CONFIG.DAT” can be set to TRUE.
BOOL PROC_IN_T1=FALSE
Corresponding entry using the menu function “Monitor -- Variable -- Modify”:
Variable Type Characteristics
PROC_IN_T1 BOOL Default: FALSE
If a hot welding attempt is made with the setting FALSE, the message “Welding in operation
mode T1 impossible!” appears in the message window.
Default = 0
The ignition fault messages are suppressed if the condition START_CNT< MAX_AUTO_R
is met and AUTO_RETRY = 1.
If AUTO_RETRY = 0, an error message appears in the message window after every ignition
fault.
A_CTRL_DELAY= 800 [ms] means that the seam monitoring begins after a delay of 800 ms.
This command can be used to optimize the ignition process reliability and always force an
active edge for the seam fault monitoring interrupt. Monitoring is carried out using $TIMER[1]
and $CYCFLAG[3].
This time can be increased if ignition faults occur too often following an unstable ignition
process.
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ArcTechDigital 2.2
11 Mechanical weaving
Mechanical weaving is used, for example, to compensate for tolerances or to bridge gaps
in a seam. The torch moves across the seam in this instance and the weave oscillation is
thus superposed on the seam motion. It is also possible to rotate the torch in relation to the
plane of the weld (direction of welding).
Mechanical weaving is executed in the coordinate system “TTS” (tool--based technological
system). In this way, the weaving function is independent of the position of the torch in
relation to the seam and of the torch angle, and irrespective of whether welding is by the
“pushing” or “dragging” technique.
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11 Mechanical weaving (continued)
Direction of welding
s
No weaving
(No Weave)
Triangular
weaving
(Triangle)
Triangular
weaving
double frequency
(Dbl Triangle)
Trapezoidal
weaving
(Sgl Trapec)
Trapezoidal
weaving
double frequency
(Dbl Trapec)
Trapezoidal
weaving
unsymmetrical
(Uns Trapec)
Spiral weaving
(Spiral)
Figure--of--eight
weaving
(Double 8)
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ArcTechDigital 2.2
The “Triangle” weave pattern (SGL_TRI) is described in the following example; on the left
is the entry taken from the file “Weav_def_d.src”, and on the right is the assignment to the
individual control points (1 ... 4) with the corresponding X and Y values.
Weav_def_d.src
SWITCH FIGUR
IF FG_NR1>0 THEN Y 2
$TECH[FG_NR1].FCT.ORDER=1 1
$TECH[FG_NR1].FCT.CPNUM=4
$TECH[FG_NR1].FCT.CPS1.X1=0.0
$TECH[FG_NR1].FCT.CPS1.Y1=0.0 0.5 0.75 1.0 X
$TECH[FG_NR1].FCT.CPS1.X2=0.25 0.0 0.25
1 4
$TECH[FG_NR1].FCT.CPS1.Y2=1.0
$TECH[FG_NR1].FCT.CPS1.X3=0.75 3
$TECH[FG_NR1].FCT.CPS1.Y3=-1.0 --1
$TECH[FG_NR1].FCT.CPS1.X4=1.0
$TECH[FG_NR1].FCT.CPS1.Y4=0.0
ENDIF
The value for X can be between 0.0 and 1.0. Xn=1.0 corresponds to the weave length entered
in the W--parameter list 2 (Mechanical Weaving), i.e. the length over which a pattern is
executed.
The value for Y can be between --1.0 and 1.0. Yn=1.0 corresponds to the lateral deflection
(weave amplitude -- zero to peak) entered in the W--parameter list 2 (Mechanical Weaving).
The weave length X, the lateral deflection Y and the angle of the torch in relation to the
welding plane (weave angle) can be programmed for each weave pattern in the
W--parameter list 2 “Mechanical Weaving” with menu prompting.
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11 Mechanical weaving (continued)
Weave width
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ArcTechDigital 2.2
Welding direction
0
0 1
1
sin(x) cos(x)
The following diagram shows the curve shapes of the function generators derived from the
sine function. This is approximately a sine for the lateral deflection (”$TECH[FG_NR1]...”)
and a cosine for the deflection in the direction of the path (”$TECH[FG_NR2]...”). The corre-
sponding control point parameters are stored under “CASE 6 ;spiral” in the file
“Weav_def_d.src”. The figure of a spiral results from the superpositioning of these two mo-
tions.
Lateral deflection (amplitude) Deflection in
Y Y direction of path
2 3
1 $TECH[FG_NR1]... 1
3’ 4’
(X 1 ... 6; Y 1 ... 6)
6 X
0
1 1,0
$TECH[FG_NR2]...
(X 1 ... 6; Y 1 ... 6)
X
--1 0
4 5 1,0
Y Resultant: spiral
1
2 3
2’ 3’
(--Y’) (Y’)
1 6, 6’ X --1
0 1’ 2’ 5’ 6’
1’
5’ 4’
--1
5 4
Weave length
The control points for the “Spiral” weave pattern are defined in the file “Weav_def_d.src”.
The parameters for the lateral deflection are stored in the first block (...NR1...).
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11 Mechanical weaving (continued)
The second block (A_FG_MECH2...) contains the parameters for the deflection in the direc-
tion of the path.
IF FG_NR2>0 THEN
$TECH[FG_NR2].FCT.ORDER=1
$TECH[FG_NR2].FCT.CPNUM=6
$TECH[FG_NR2].FCT.CPS1.X1=0.0
$TECH[FG_NR2].FCT.CPS1.Y1=-1.0
$TECH[FG_NR2].FCT.CPS1.X2=0.083333
$TECH[FG_NR2].FCT.CPS1.Y2=-1.0
$TECH[FG_NR2].FCT.CPS1.X3=0.416666
$TECH[FG_NR2].FCT.CPS1.Y3=1.0
$TECH[FG_NR2].FCT.CPS1.X4=0.58
$TECH[FG_NR2].FCT.CPS1.Y4=1.0
$TECH[FG_NR2].FCT.CPS1.X5=0.916666
$TECH[FG_NR2].FCT.CPS1.Y5=-1.0
$TECH[FG_NR2].FCT.CPS1.X6=1.0
$TECH[FG_NR2].FCT.CPS1.Y6=-1.0
ENDIF
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ArcTechDigital 2.2
In order to achieve a phase shift of 180˚, it is merely necessary to change the parameters
for control points Y2 and Y3. The required changes have been made in the following list and
are underlined for ready identification.
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11 Mechanical weaving (continued)
The first value for X must be 0 (zero) and the last value must be 1. Multiple X values that
are identical cannot be used.
The number of control points determined (CPNUM) as well as the X and Y values can be
entered, for example, in the block “CASE 8 ;default as minimums and flag for beginning” of
the file “Weav_def_d.src”, as shown in the following.
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ArcTechDigital 2.2
With higher weave frequencies, undesirable effects are liable to result in certain conditions
(depending on the tool design and/or tool orientation). With weave frequencies > 3 Hz, the
motion characteristics of the robot should therefore be individually tested in each case.
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12 Error messages / troubleshooting
Hint messages
provide the operator with explanatory information, for example, if an illegal key has been
pressed.
Operational messages
signal the status of the system that has led to a control reaction, e.g. Emergency Stop. The
message is cleared once its cause has been eliminated. In some cases, a secondary signal
that has to be acknowledged is set for reasons of safety.
Acknowledgement messages
indicate a situation that must in all instances be recognized and acknowledged with the
acknowledge key. They are often a consequence of a status (operational) message. An
acknowledgement message stops a movement or prevents further operation.
Dialog messages
require confirmation by the operator (“Yes” or “No” softkeys). The message is cleared after
it has been confirmed.
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ArcTechDigital 2.2
12.4 Originator
The origin of the error is indicated in this field. In the case of ArcTechDigital, the entry is
TPA20.
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12 Error messages / troubleshooting (continued)
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ArcTechDigital 2.2
Cause -- Too many ignition attempts; too many seam faults or interruption
with RESTART_OPT = 0 (continue “Cold”)
Monitor -- In ARC ON command
Effect -- Seam not welded
Remedy -- Clean ignition position and make new block selection to ARC_ON
position
7 Message text Switch off welding
Cause -- Power source does not switch welding off or does so too late
-- Incorrect configuration
-- Incorrect burnback parameters
Monitor -- In ARC OFF command
Effect -- Single message for user
Remedy -- Optimization of the burnback parameters
8 Message text Weld controller fault
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Index
D L
Lateral deflection (weave amplitude), 58
DIGITAL INPUTS, 32
Digital inputs, 29
Digital inputs (physical), 32 M
Digital outputs, 23, 29 MAX_AUTO_R, 50
Digital outputs (physical), 30 Maximum weave frequency, 64
Digitale Eingänge, 24 Mechanical weaving, 56
DRIVES OFF, 51 Minimum configuration, 23, 25
Motion characteristics of the robot, 64
E
EMERGENCY STOP, 51 N
External keyswitch, 45 NAME_NAT[ ], 30, 32
Notes on mechanical weaving, 64
F
FAULT SERVICE FUNCTION, 50 O
Index -- i
Index
R
Resonant frequency, 64
RESTART_OPT, 49 W
RESTART_OPTION, 49
WEAV_DEF.SRC, 58, 62
Weav_def_d.src, 21
S
Weave length, 58
Schematic sequence diagram ARC OFF, 14
Schematic sequence diagram ARC ON, 12 Weave patterns, 57
Schematic sequence diagram ARC SWITCH, Weave patterns, changing of, 62
16
Weave patterns, creating of, 63
Seam error, 52
Weaving, 56
Signal APPL_RUN, 53
Signal diagram ARC_OFF, 15 Weaving, two--dimensional, 59
Signal diagram ARC_ON, 13 Welding a seam in several sections -- ARC
Signal diagram ARC_SWI, 17 SWITCH, 15
Signal flow of the program numbers, 47 Welding and ending seams -- ARC OFF, 13
Index -- ii