9.8.2. Segment command
Click the “Segment” icon to enter the Segment command editing interface.
The collaborative robot can perform segment welding operations by adding segment welding instructions. Before adding segment welding instructions, you need to select the segment welding mode and teach the starting point and end point. The segment welding mode is divided into unchanged posture and changing posture. The robot considers whether to change the posture during the welding trajectory according to the selected segment welding mode.
Teach the starting point “segment01” and the end point “segment02”, and confirm the starting point and end point of the welding trajectory, as shown in the figure below.
Figure 9.8-2-1 Starting point “segment01”
Figure 9.8-2-2 Starting point “segment02”
9.8.2.1. Segment welding command added
Step1: Create a new user program “testSegment1.lua”, click the “Segment Welding” button, and open the segment welding instruction adding page.
Figure 9.8-2-3 Add segment welding command button
Step2: On the segment welding instruction adding page, select “segment01” as the “start point” and “segment02” as the “end point”.
Figure 9.8-2-4 Starting point and end point of segment welding
Step3: Configure the debugging speed, execution length, non-execution length, functional mode, swing selection and rounding rules, and click the “Add” button and the “Apply” button in sequence.
Step4: At this time, “testSegment1.lua” has added segment welding motion instructions, as shown in Figure5.
Figure 9.8-2-5 Addition of segment welding motion instructions
9.8.2.2. Changes in segment welding motion trajectory and attitude
The segment welding mode of the collaborative robot can be selected for the segment welding movement. The mode types include the following two types;
No change in posture:The robot always maintains the posture of the starting point of the welding trajectory during the welding trajectory.
Changing posture:During the welding trajectory process, the robot calculates the Cartesian pose and joint position of each segment of the trajectory, and changes its posture during the segment welding operation.
The following demonstrates the usage of “no change posture” and “change posture” respectively.
Do not change posture
Open the segment welding instruction adding page, select “No change in attitude” for “segment welding mode”, also select “start point” as “segment01”, “end point” as “segment02”, set the execution length to 100, non-execution Set the length to 50, select other relevant configurations and save the program.
Figure 9.8-2-6 Segment welding mode without changing attitude
Change posture
Open the segment welding instruction adding page, select “Change Attitude” for “Segment Welding Mode”, also select “Start Point” as “segment01”, “End Point” as “segment02”, set the execution length to 100, and the non-execution length. Set it to 50, select other relevant configurations and save the program.
Figure 9.8-2-7 Changing attitude segment welding mode
Section welding operation type
Running program, robot segment welding operation conditions are divided into the following types:
If the function mode selects the first segment to execute the function, and the swing selects the execution segment to swing, the rounding rule will not round. Then the robot performs swing motion at 100mm and linear motion at 50mm alternately, and stops when it reaches the end point;
Figure 9.8-2-8 The first section executes the swing function without rounding
If the function mode selects the first segment to not execute the function, the swing selection does not execute the segment swing, and the rounding rules do not round. Then the robot performs swing motion for 50mm and linear motion for 100mm alternately, and stops when it reaches the end point;
Figure 9.8-2-9 The first section does not execute the swing function and does not round
If the function mode selects the first segment to perform the function, the swing selects the execution segment to swing, and the rounding rules are rounded. Then the robot performs swing motion at 100mm and linear motion at 50mm alternately. After the last period of the overall cycle, if the remaining distance is less than 150mm, it will stop swinging;
Figure 9.8-2-10 The first section performs circular rounding of the swing function
If the function mode selects the first segment to perform the function, and the swing selects not to execute the segment swing, the rounding rules are rounded. Then the robot performs swing motion at 50mm and linear motion at 100mm alternately. After the last period of the overall cycle, if the remaining distance is less than 150mm, it will stop swinging;
Figure 9.8-2-11 The first section does not perform circular rounding of the swing function
If the function mode selects the first segment to execute the function, the swing selects the execution segment to swing, and the rounding rule is single segment rounding. Then the robot performs swing motion at 100mm and linear motion at 50mm alternately. After the last cycle, if the next segment is 100mm, swing planning is performed and the remaining distance is less than 100mm, the swing will stop; if the next segment is 50mm, linear motion planning is performed and the remaining distance is If it is less than 50mm, the movement will stop;
Figure 9.8-2-12 The first section performs single-section rounding of the swing function
If the function mode selects the first segment to perform the function, the swing selects not to execute segment swing, and the rounding rule is single segment rounding. Then the robot performs swing motion at 50mm and linear motion at 100mm alternately. After the last cycle, if the next segment is 50mm, swing planning is performed and the remaining distance is less than 50mm, then the swing is stopped; if the next segment is 100mm, linear motion planning is performed and the remaining distance is Less than 100mm, the movement stops.
Figure 9.8-2-13 The first section does not perform single-section rounding of the swing function
Posture contrast
When configuring different segment welding modes, the posture of the robot during welding trajectory operation will also be different. The posture comparison during operation is as follows:
Figure 9.8-2-14 Initial posture of welding trajectory
Figure 9.8-2-15 The posture does not change during operation
Figure 9.8-2-16 Change of attitude during operation
9.8.2.3. Actual scene of segment welding
In the actual test environment, the robot needs to be equipped with a welding gun and other configurations, and perform welding operations on the welding plate according to the created segment welding instructions. The actual scene diagram is as follows:
Figure 9.8-2-17 Actual scene of segment welding
9.8.3. Laser command
Click the “Laser” icon to enter the Laser command editing interface.
This command includes three parts: laser command, tracking command and positioning command. Before adding this command, please confirm whether the laser tracking sensor in the user peripheral has been configured successfully. See Robot Peripherals chapter for details.
In the sensor loading module, after displaying the corresponding “sensor command” interface according to the function selection, configure the sensor command:
Ruiniu/CXZK: Enter the weld type, range: 0~49 integer
Figure 9.8-3-1 Laser command interface
Quanshi: Enter the task number, range: 0~255 integer
Figure 9.8-3-2 Laser command interface
9.8.3.1. Laser Sensor Fixed-Point Tracking Function
9.8.3.1.1. Overview
The current laser fixed-point tracking is implemented based on the extended axis method. Newly added custom tracking time tracking or IO trigger tracking methods are now available to adapt to various application scenarios. When selecting the custom tracking time tracking method, the tracking time needs to be set. Laser tracking starts when the program begins running and exits tracking when the set time is reached. When selecting the IO trigger tracking method, the Lua program or SDK program runs, tracking starts when the IO is triggered, and laser tracking stops when the IO signal is removed.
9.8.3.1.2. Custom Tracking Time Tracking Operation Process
Step1: Click “Initial Setup” - “Peripherals” - “Line Laser Sensor” - “Adapted Devices” to enter the configuration page. The configuration page includes “Sensor Configuration”, “Communication Configuration and Loading”, “Reference Calculation”, etc. Click “Sensor Configuration” to set sensor input filter parameters, set the maximum difference according to actual conditions, select data processing as “Raw Data (No Transformation)”, set the sensitivity coefficient X direction to 0, set Y direction and Z direction according to actual conditions, recommended to set to 1; click “Communication Configuration and Loading” to input corresponding communication parameters to connect the laser sensor. For detailed configuration, refer to the corresponding section of the user manual.
Figure 9.8-3-3 Line Laser Sensor Configuration
Step2: Calibrate the tool coordinate system and the laser sensor coordinate system. Calibrate the tool coordinate system using the “Six-Point Method”, and calibrate the laser sensor coordinate system using the “Five-Point Method”. Tool coordinate system and laser sensor coordinate system calibration are not the focus of this function introduction. For detailed calibration methods, refer to the corresponding section of the user manual.
Step3: Adjust the workpiece and laser beam position as shown in the figure below. The black rectangle is the workpiece, the red line segment is the laser beam. The laser beam should be perpendicular to the workpiece edge to be tracked, and the workpiece movement direction should be parallel to the laser beam. The workpiece moves at a constant speed, recommended speed is 15mm/s. Too fast will degrade tracking performance.
Figure 9.8-3-4 Workpiece and Laser Beam Relative Position Schematic
Step4: Click “Teach Program” - “Laser Tracking” - “Data Recording”, set function selection to “Record and Reproduce Simultaneously”, set fixed-point tracking motion type to “Robot Motion”, set fixed-point tracking trigger mode to “Time”, set tracking duration according to actual requirements. In this manual, 21s is used as an example. The settings of other parameters are the same as laser tracking using extended axis. Click the “Add” button below.
Figure 9.8-3-5 Custom Duration Tracking Parameter Settings
Step5: Click “Teach Program” - “Laser Tracking” - “Data Recording”, set function selection to “Stop Recording”, click the add button to generate the Lua program. When running this program, the robot will track for 21s and then exit tracking.
Figure 9.8-3-6 Custom Duration Tracking Typical Lua Program
9.8.3.1.3. IO Trigger Tracking Operation Process
Step1: Click “Initial Setup” - “Peripherals” - “Line Laser Sensor” - “Adapted Devices” to enter the configuration page. The configuration page includes “Sensor Configuration”, “Communication Configuration and Loading”, “Reference Calculation”, etc.
Click “Sensor Configuration” to set sensor input filter parameters, set the maximum difference according to actual conditions, select data processing as “Raw Data (No Transformation)”, set the sensitivity coefficient X direction to 0, set Y direction and Z direction according to actual conditions, recommended to set to 1; click “Communication Configuration and Loading” to input corresponding communication parameters to connect the laser sensor. For detailed configuration, refer to the corresponding section of the user manual.
Figure 9.8-3-7 Line Laser Sensor Configuration
Step2: Calibrate the tool coordinate system and the laser sensor coordinate system. Calibrate the tool coordinate system using the “Six-Point Method”, and calibrate the laser sensor coordinate system using the “Five-Point Method”. Tool coordinate system and laser sensor coordinate system calibration are not the focus of this function introduction. For detailed calibration methods, refer to the corresponding section of the user manual.
Step3: Adjust the workpiece and laser beam position as shown in the figure below. The black rectangle is the workpiece, the red line segment is the laser beam. The laser beam should be perpendicular to the workpiece edge to be tracked, and the workpiece movement direction should be parallel to the laser beam. The workpiece moves at a constant speed, recommended speed is 15mm/s. Too fast will degrade tracking performance.
Figure 9.8-3-8 Workpiece and Laser Beam Relative Position Schematic
Step4: Click “Teach Program” - “Laser Tracking” - “Data Recording”, set function selection to “Record and Reproduce Simultaneously”, set fixed-point tracking motion type to “Robot Motion”, set fixed-point tracking trigger mode to “IO”. Tracking starts when IO is triggered and stops when the IO signal is removed. The settings of other parameters are the same as laser tracking using extended axis. Click the “Add” button below.
Figure 9.8-3-9 IO Tracking Parameter Settings
Step5: Click “Teach Program” - “Laser Tracking” - “Data Recording”, set function selection to “Stop Recording”, click the add button to generate the Lua program. When running this program, tracking starts when IO is triggered and stops when the IO signal is removed.
Figure 9.8-3-10 IO Tracking Typical Lua Program
9.8.4. LT-Rec command
Click the “LT-Rec” icon to enter the LT-Rec command editing interface.
This command realizes the function of taking out the starting point and end point of laser tracking recording, so that the robot can automatically move to the starting point position, which is suitable for the occasion where the movement starts from the outside of the workpiece and laser tracking recording is performed. At the same time, the host computer can obtain the information of the starting point and end point in the recorded data. for follow-up exercise.
Realize the adjustable function of laser tracking and reproduction speed, so that the robot can record at a very fast speed, and then reproduce according to the normal welding speed, which can improve the working efficiency.
Figure 9.8-4 LT-Rec command interface
9.8.5. W-Search command
Click the “W-Search” icon to enter the W-Search command editing interface.
This command is a welding wire positioning command, including three commands of start of positioning, end of positioning and calculation of offset. This command is generally used in welding scenes and requires the combination of welding machine and robot IO and motion commands.
Figure 9.8-5 W-Search command interface
In writing a program, usually first set the start command of the search, and then add two LIN instructions to determine the direction of the search. After the search is successful, obtain the calculated offset, and pass the offset through the overall offset command. To take effect into the real welding motion command, the program example is as follows.
Figure 9.8-5-1 W-Search example(1D)
9.8.6. Weld-Trc command
Click the “Weld-Trc” icon to enter the Weld-Trc command editing interface.
This command realizes the robot seam tracking and uses the deviation detection of the welding seam to compensate the trajectory, and the arc sensor can be used to detect the seam deviation.
Step1: Upper and lower compensation reference current setting method: feedback, set the upper and lower reference current start counting and the upper and lower reference current counting
Figure 9.8-6-1 Weld-Trc command interface-Feedback
Step2:Upper and lower compensation reference current setting method: constant, set the upper and lower reference current
Figure 9.8-6-2 Weld-Trc command interface-constant
Step3:Left and right compensation parameter interactive page
Figure 9.8-6-3 Weld-Trc command interface-left and right compensation parameters
9.8.7. Robot Arc Tracking System Composition
During the collaborative robot arc tracking welding process, the welding machine feeds back the real-time welding current and voltage signals to the robot. The robot performs welding trajectory position compensation based on the real-time feedback of welding current and voltage values to achieve the arc tracking effect. The feedback of current and voltage signals between the welding machine and the robot can be achieved in the following four ways. The first two require an additional PLC for data relay, while the latter two involve a direct connection between the welding machine and the robot control box:
①CANopen or Other Bus Communication: If your welding machine supports bus communication protocols such as CANopen, EtherCAT, or ModbusTCP (e.g., OTC NBC-500RP, Megmeet A2 series, etc.), the PLC and the welding machine can communicate directly via the relevant communication protocol. The corresponding welding current signal can be transmitted directly to the PLC via communication and then fed back to the robot via UDP communication.
Figure 9.8-6-4 Robot Arc Tracking System Composition Topology Diagram (PLC and Welding Machine Bus Communication)
a-Computer; b-Robot and Control Box; c-PLC and Bus Communication Module; d-Welding Machine
②PLC + IO Analog: The PLC can also directly collect analog signals and then convert the analog signals into current values with a certain conversion relationship to feed back to the robot. If your welding machine has a real-time welding current analog output channel, you can directly connect this channel to the analog input module of the PLC. If your welding machine does not have a real-time welding current analog output channel, you can connect an external Hall current sensor. The sensor collects the real-time welding current signal and converts the welding current signal into an analog signal output to the PLC analog input module.
Figure 9.8-6-5 Robot Arc Tracking System Composition Topology Diagram (PLC Collecting Analog Signals)
a-Computer; b-Robot and Control Box; c-PLC and Analog Input Module; d-Welding Machine and Hall Current Sensor
③Control Box AI: The robot control box IO ports have two analog input channels (0 ~ 10V). If your welding machine has a real-time welding current analog output channel, you can directly connect this channel to the analog input port of the control box. If your welding machine does not have a real-time welding current analog output channel, you can connect an external Hall current sensor. The sensor collects the real-time welding current signal and converts the welding current signal into an analog signal output to the analog input channel of the control box. There is usually a linear relationship between the analog input value and the actual welding current value. Detailed parameter settings are described later in “Arc Tracking Channel Configuration.”
Figure 9.8-6-6 Robot Arc Tracking System Composition Topology Diagram (Control Box AI Collecting Analog Signals)
a-Computer; b-Robot and Control Box; c-Welding Machine and Hall Current Sensor
④Ethernet Communication (ModbusTCP): If your welding machine supports ModbusTCP communication, the robot can directly control the welding and read real-time current and voltage feedback values via ModbusTCP. As shown in Figure 1-4. The ModbusTCP communication between the robot and the welding machine uses the control box peripheral open protocol. For details, see “8.6.6. Digital Communication Protocol (Modbus TCP).”
Figure 9.8-6-7 Robot Arc Tracking System Composition Topology Diagram (ModbusTCP Communication)
a-Computer; b-Robot and Control Box; c-Welding Machine
9.8.7.1. Welding machine model and setting
Table 9.8-1 Verified welding machine model
Verified welding machine model |
MEGMEET ArtsenII CM350 |
Table 9.8-2 Welding machine function setting
Function number | Set the parameters |
F18 | 20 |
F19 | 56 |
9.8.7.2. PLC model and settings
Table 9.8-3 Verified PLC models
Verified PLC models |
INOVANCE Easy521 |
Table 9.8-4 PLC key settings
Settings | Set the contents |
Communication protocols | CANOPEN |
Feedback current sampling source | Feedback data from welding machine |
Synchronization period | 2ms |
9.8.7.3. Arc tracking function
1）Introduction to the arc tracing feature
Figure 9.8-7-1 Typical arc tracing scenario
Typical scenarios for the arc tracing function include: a. welding the workpiece (the weld groove is at a right or acute angle), b. the welding gun, e. weld center line.
The arc tracking function can tracing the welding groove through the collected welding current information and the swing parameters: c. up and down (depth) direction tracking and d. left and right (center line) direction tracking.
2）Communication Configuration
①CANopen or Other Bus Communication:
Open WebApp and click “Initial”->”Peripheral” -> “Welder” in turn.
Figure 9.8-7-2 Open welding config
The control type is selected as “Digital communication protocol”. Since the robot communicates with PLC through UDP, UDP communication parameters need to be configured. The meanings of each parameter are as follows:
IP address:IP address of PLC for UDP communication;
Port number:PLC UDP communication port number;
Communication cycle:The cycle of UDP communication between the robot and the PLC, the default is 2ms;
Packet loss detection cycle and Packet loss times:When the number of lost packets in the packet loss detection period exceeds the specified value, the robot reports an error message indicating UDP Packet loss Exception and automatically cuts off the communication;
Communication interruption confirmation time:The robot does not receive a complete PLC feedback packet within this period of time, which will report “UDP communication interruption” error alarm, and cut off UDP communication;
Automatic reconnection after communication interruption:Whether the robot automatically reconnects after detecting UDP communication interruption;
Reconnection period and Num of reconnections:After automatic reconnection of UDP communication interruption is enabled and UDP communication interruption is detected, the robot reconnects at the set period. When the reconnection times reach the maximum set value and the connection is not successful, the robot reports an error alarm of “UDP communication interruption” and disconnects the UDP communication at the same time.
After configuring the above parameters, click the “Configure” and “Load” buttons successively.
Figure 9.8-7-3 Selecting the control type
②PLC + IO Analog:
Same as “①CANopen or Other Bus Communication,” the PLC program converts the input analog data into current and voltage data in the UDP communication protocol and sends it to the robot.
③Control Box AI:
No communication configuration is required. Simply connect the I/O cables between the control box and the welding machine correctly. The real-time welding current and voltage feedback analog lines from the welding machine are input to the robot control box AI0 and AI1 ports.
④Ethernet Communication (ModbusTCP):
Correctly connect the network cable between the robot and the welding machine. In WebApp, click sequentially on “Initial Settings,” “Peripherals,” “Control Box,” “Peripheral Open Protocol.” Upload the welding machine communication protocol to the robot, then click “Configure” and “Load” buttons sequentially. The robot will then establish a ModbusTCP communication connection with the welding machine.
Figure 9.8-7-4 Establishing Arc Tracking Ethernet Communication
Note
The arc tracking effect depends on fast real-time welding current and voltage data feedback. If the feedback frequency is slow, it may lead to weld seam tracking failure. Therefore, when using ModbusTCP for welding machine communication, it is necessary to reasonably set the communication cycle in the protocol. The recommended communication cycle is less than 10ms.
3) Channel Configuration
①CANopen or Other Bus Communication:
Click sequentially on “Initial Settings” -> “Peripherals” -> “Welding Machine” -> “Digital Communication Protocol (UDP).”
Figure 9.8-7-5 Selecting Welding Machine Control Type as “Digital Communication Protocol (UDP)”
Find the “Arc Tracking Channel” at the bottom of the page. Select the corresponding extended AI channel based on the actual configuration. The default welding current AI channel is “Aux-AI0” and the welding voltage AI channel is “Aux-AI1”. Click the “Configure” button.
Note
The UDP communication protocol between the robot and the PLC is detailed in “Appendix 1: Robot UDP Communication Protocol.” The feedback data from PLC to the robot in the protocol includes the actual welding current and voltage feedback input channels in bytes 74~77.
During welding, the PLC collects real-time welding current signals via CANOpen or other buses and provides feedback to the robot for arc tracking through the actual welding current and voltage values in bytes 74~77.
Figure 9.8-7-6 Bus Communication Arc Tracking Channel Configuration
②PLC + IO Analog:
The configuration is the same as “①CANopen or Other Bus Communication.” In the PLC program, the user converts the read analog input into actual welding current and voltage feedback values through numerical conversion, and assigns these values to the actual welding current and voltage feedback input channels (bytes 74~77) in the feedback data packet from PLC to the robot in the UDP communication protocol between the robot and the PLC.
③Control Box AI:
Click sequentially on “Initial Settings” -> “Peripherals” -> “Welding Machine,” “Controller I/O.”
Figure 9.8-7-7 Selecting Welding Machine Control Type as “Controller I/O”
Find the “Arc Tracking Channel” at the bottom of the page. Select Welding Current AI as “Ctrl-AI0” and Welding Voltage AI as “Ctrl-AI1”. Click the “Configure” button. The control box analog input 0~10V often has a linear relationship with the actual feedback current and voltage values, so it is necessary to configure the actual welding current and voltage values corresponding to different analog inputs.
In the “Analog Current-Voltage Relationship Diagram” section of the AI channel configuration, the parameter settings for the “A-V” and “V-V” interfaces need to refer to the analog input/output table/chart of the welding machine being used.
For example, configure the lower and upper limits of the welding current for the control box current analog AI as 0A and 500A, respectively. Configure the lower and upper limits of the output voltage for the control box current analog AI as 0V and 5V, respectively, as the configuration parameters for the “A-V” interface in the “Analog Current-Voltage Relationship Diagram” section of the AI channel configuration. Click “Configure” to complete the configuration of the control box current analog AI channel.
Figure 9.8-7-8 Control Box Current Analog AI Configuration
For example, configure the lower and upper limits of the welding voltage for the control box voltage analog AI as 0V and 50V, respectively. Configure the lower and upper limits of the output voltage for the control box voltage analog AI as 1.018V and 10V, respectively, as the configuration parameters for the “V-V” interface in the “Analog Current-Voltage Relationship Diagram” section of the AI channel configuration. Click “Configure” to complete the configuration of the control box voltage analog AI channel.
Figure 9.8-7-9 Control Box Voltage Analog AI Configuration
④Ethernet Communication (ModbusTCP):
Click sequentially on “Initial Settings,” “Peripherals,” “Welding Machine,” “Digital Communication Protocol (Modbus TCP).”
Figure 9.8-7-10 Selecting Welding Machine Control Type as “Digital Communication Protocol (Modbus TCP)”
Find the “Arc Tracking Channel” at the bottom of the page. Select Welding Current AI as “Ethernet” and Welding Voltage AI as “Ethernet”. Click the “Configure” button.
Figure 9.8-7-11 Ethernet Communication Arc Tracking Channel Configuration
4）Introduction to the use of arc tracing function commands
The arc tracking function can be adapted to the swing welding movement, inserting the arc tracking start command after the swing welding arc starts, and inserting the arc tracking end command before the swing welding arc extinguishing.
Figure 9.8-7-12 Typical example of arc tracing
5)Introduction to the parameters of the function interface
Table 9.8-5 Arc tracking up-down compensation module
The name of the parameter | Meaning | Description |
Arc tracking lag time | The time for the feedback current to lag | The default is 0ms, do not adjust it |
Compensation for up-down deviations | Up-down compensating switches | You can choose to “on” or “off” |
Up-down adjustment coefficients | The coefficient of the relationship between the current and the compensation distance (adjustment sensitivity) | The welding tends to be in a short-circuit transition state, and the current signal-to-noise ratio gradually decreases, so it is recommended to reduce the sensitivity |
Up-down start compensating period | The fastest periods to start the up-down compensation | Associated with the swing frequency, it is better to open when the current tends to be stable for 3~4s after arcing. If the oscillation frequency is 1 Hz, the parameter can be 4, if the frequency is 2 Hz, the parameter can be 8, and so on |
The maximum distance of up-down compensation each period | The maximum distance of compensation per up-down compensation period | According to the welding scene setting, the faster the weave frequency, the smaller the compensation distance |
The maximum distance of compensation for the up-down totals | The maximum cumulative distance of compensation for a single complete welding process | According to the welding scene setting, the larger the weld deviation, the larger the setting |
Up-down coordinate system selection | The coordinate system in which the compensation value is compensated | If there is a welding weave, select “Weave”, otherwise select “Tool” or “Frame” |
Up-down reference current setting method | Selection of the reference current acquisition method | You can choose “Feedback” by reading the feedback current, or “Constant” by filling in the current value directly |
The up-down reference current samples start counting | The number of periods for which the reference current is harvested with a delay | Associated with the weave frequency, it is better to open when the current tends to be stable for 3~4s after arcing. If the weave frequency is 1 Hz, the parameter can be 4, if the frequency is 2 Hz, the parameter can be 8, and so on |
Up-down reference current sampling counts | Reference current feedback mode, the statistical period of collecting the reference current | Default 1 CYC |
Up-down reference currents | Reference current constant mode, reference current value | It can be filled in manually to achieve the desired compensation height |
Table 9.8-6 Arc tracking left-right compensation module
The name of the parameter | Meaning | Parameter description |
Arc tracking lag time | The time for the feedback current to lag | The default is 0ms, do not adjust it |
Compensation for left-right deviations | Left-right compensation switches | You can choose to “On” or “Off” |
Left-right compensation coefficients | The coefficient of the relationship between the current and the compensation distance (adjustment sensitivity) | The welding tends to be in a short-circuit transition state, and the current signal-to-noise ratio gradually decreases, so it is recommended to reduce the sensitivity |
Left-right compensation start counting | The fastest count to start left-right compensation function | Associated with the weave frequency, it is better to start when the current tends to be stable for 3~4s after arcing. If the weave frequency is 1 Hz, the parameter can be 4, if the frequency is 2 Hz, the parameter can be 8, and so on |
Left-right the maximum distance of compensation each time | The maximum distance of compensation per compensation cycle | According to the welding scene setting, the faster the swing frequency, the smaller the compensation distance |
The maximum distance of compensation for the left -right totals | The maximum cumulative distance of compensation for a single complete welding process | According to the welding scene setting, the larger the weld deviation, the larger the setting |
6)Scope of application
Table 9.8-7 Up-down compensation On, Left-right compensation Off
Key parameters | Parameter range |
Weave frequency Hz | 0 (without welding swing), 0.5 to 2 (with weld swing) |
Weave amplitude mm | 0 (without welding swing), 3 through 7 (with welding swing) |
Set the voltage V | >17 |
Set the current A | >160 |
Table 9.8-8 Up-down compensation Off, Left-right compensation On
Key parameters | Parameter range |
Weave frequency Hz | 0.5 to 2 |
Weave amplitude mm | 3 to 7 |
Set the voltage V | >17 |
Set the current A | >160 |
Table 9.8-9 Up-down compensation On, Left-right compensation On
Key parameters | Parameter range |
Weave frequency Hz | 0.5 to 2 |
Weave amplitude mm | 3 to 7 |
Set the voltage V | >19 |
Set the current A | >210 |
7)Precautions
The left-right compensated arc tracking function can only be adapted to symmetrical triangle or sine weave based on line trajectory.
The starting position of the welding to be able using the compensation function must be accurately above the weld (the axis of the welding gun is in the center of the fillet weld), and the welding gun should not be too close to the seam, otherwise there is a risk of hitting the welding gun.
The material on both sides of the groove of the workpiece needs to be consistent.
The coordinate size and attitude of the workpiece need to be accurately calibrated using the 6-point method.
If the deviation between the set trajectory and the seam is larger, the maximum compensation distance each time and the total maximum compensation distance should be larger too.
The deviation between the set trajectory and the end point of the weld should not be larger than 100mm/m, and too large the deviation may cause the welding wire or even the welding gun to hit the workpiece, so that the welding position deviates from the preset trajectory (the weave is not in place), resulting in the arc tracking function can not work normally.
If a small set current and voltage is selected for welding, the compensate coefficient of arc tracking should be reduced accordingly to reduce the instability compensation caused by the burr of the feedback current.
When different coordinate systems are selected for arc tracking, the positive and negative signs of the up-down and left-right compensation coefficients may need to be adjusted, which can be judged by test welding in addition to the direction of the corresponding coordinate system. If the welding trajectory (left) is taught on an inclined plate, the welding trajectory (right) moves in the direction of descent based on the tilt gradient of the swing plane after arc tracking is enabled, and the height of the welding torch at the end is close to the starting point, then the sign of the adjustment coefficient is correct.
Figure 9.8-7-13 Set the tilt swing trajectory (left), weld trajectory when the symbol is correct (right)