15. Process Package
15.1. Welding Expert Library
Click the “Welding Expert Library” menu item under “Auxiliary Application” -> “Process Package” to enter the Welding Expert Library function interface, which includes Straight Welding, Arc Welding, Multi-Layer Multi-Pass Welding, and Posture Adjustment.
Figure 15.1‑1 Extended Axis Configuration
15.1.1. Straight Welding
Click “Straight Welding” to enter the Straight Welding guidance interface. Based on the completion of basic robot settings, we can quickly generate welding teaching programs through a few simple steps. It mainly includes the following five steps. Due to functional mutual exclusion, the actual steps to generate one welding teaching program are fewer than five.
Step 1: Decide whether to use the extended axis. If using the extended axis, you need to configure the relevant coordinate system for the extended axis and enable it. Weaving function cannot be used when the extended axis is used.
Figure 15.1‑2 Extended Axis Configuration
Step 2: Choose whether sensor tracking is needed. If yes, you need to edit the parameters of the laser search command. Weaving function cannot be used when sensor tracking is used.
Figure 15.1‑3 Laser Search Configuration
Step 3: Choose whether weaving is needed. If weaving is needed, you need to edit the relevant weaving parameters.
Figure 15.1‑4 Weaving Configuration
Step 4: Calibrate the Start Point, Start Safe Point, End Point, and End Safe Point. If the extended axis was selected in Step 1, the extended axis movement function will be loaded to assist with the calibration of the relevant points.
Figure 15.1‑5 Calibrating Relevant Points
Step 5: Name the program, and it will automatically open in the program teaching interface.
Figure 15.1‑6 Saving the Program
After the program is successfully saved, you can modify the welding speed in the Process Parameters.
Figure 15.1‑6 Process Parameters
15.1.2. Arc Welding
Click “Arc Welding” under “Weldment Shape” to enter the Arc Welding guidance interface. Based on the completion of basic robot settings, we can quickly generate welding teaching programs through two simple steps. It mainly includes the following two steps.
Step 1: Calibrate the Start Point, Start Safe Point, Arc Transition Point, End Point, and End Safe Point.
Figure 15.1‑8 Calibrating Points
Step 2: Name the program, and it will automatically open in the program teaching interface.
Figure 15.1‑9 Saving the Program
After the program is successfully saved, you can modify the welding speed in the Process Parameters.
Figure 15.1‑10 Process Parameters
15.1.3. Multi-Layer Multi-Pass Welding
When the weld leg size is greater than 10mm, the Multi-Layer Multi-Pass Welding function is typically used. This function enables template-based configuration of welding programs, incorporates arc tracking function during the first pass of multi-layer multi-pass welding, and corrects weld deviation in subsequent multi-pass straight welding processes, thereby improving weld quality.
The operation process for Arc Tracking Multi-Layer Multi-Pass Welding is as follows:
Set the Tool Coordinate System, enter the tool dimensions and posture of the welding torch.
Note
The values on the interface are for example only; use the actual tool status.
Figure 15.1-11 Setting Tool Coordinate System
Click “Multi-Layer Multi-Pass Welding” to enter the interface.
Figure 15.1-12 Opening the Multi-Layer Multi-Pass Welding Interface
To use the arc tracking function, be sure to turn on the “First Layer Welding Weaving Function” switch and configure the corresponding weaving parameters.
Figure 15.1-13 Enabling First Layer Welding Weaving Function
Click the “Configure” button, edit the weaving parameters, then click “Configure”.
Note
If arc tracking requires left/right compensation, only “Triangle Wave Weaving” and “Sine Wave Weaving” types can be selected. The weaving frequency must not be lower than 0.5Hz, the weaving amplitude must not be less than 3mm, the left and right dwell times must be the same, and the weaving azimuth angle must be 0.
Figure 15.1-14 Configuring Weaving Parameters
Turn on the “Arc Tracking Function” switch and edit the corresponding up/down and left/right compensation parameters.
Note
Configure the arc tracking parameters according to the actual welding situation, refer to the “Arc Tracking Function Operation Manual” or contact relevant technical personnel.
Figure 15.1-15 Configuring Arc Tracking Parameters
Click the corresponding type according to the control type to enter the interface. First, in the first set of points, set the “Welding Point” as the welding start position; the “X+ Point” is a point in the X+ direction of the custom offset coordinate system relative to the welding point; the “Z+ Point” is a point in the Z+ direction of the custom offset coordinate system relative to the welding point; the “Safe Point” is the transition position from the completion of the last weld to the start of the next weld. After teaching and setting, automatically proceed to the second set of points.
Figure 15.1-16 Multi-Layer Multi-Pass Welding Straight Start Point Position Setting
Select “Straight Point”. Here, the “Welding Point” is the welding end position; the “X+ Point” is a point in the X+ direction of the custom offset coordinate system relative to the “Welding Point”; the “Z+ Point” is a point in the Z+ direction of the custom offset coordinate system relative to the “Welding Point”. After teaching and setting, click the “Finish” button to set the multi-layer multi-pass welding parameters.
Figure 15.1-17 Multi-Layer Multi-Pass Welding Straight End Point Position Setting
On this page, you can set the number of multi-layer multi-pass welds and their distribution positions. Click the “On/Off” box in the parameter table to activate the corresponding offset position and angle values for the multi-layer multi-pass welding positions, and enter the desired offset positions and angles in the custom coordinate system in the “X”, “Z”, and “B” columns.
Figure 15.1-18 Multi-Layer Multi-Pass Welding Parameter Setting
At this point, all parameter configuration is complete. Enter the desired program name and click the “Save” button to automatically generate the corresponding multi-layer multi-pass welding program.
Figure 15.1-19 Multi-Layer Multi-Pass Welding Program Generation
Click the “Open Program” button to read the Lua program saved in the previous step. The program content is shown in the figure below.
Figure 15.1-20 Arc Tracking Multi-Layer Multi-Pass Welding Program Example