weave welding

[elina341]

Hi evey body,

I want to ask about mechanical weaving.How can I active option?is it possible through KSS just or it's depended on Arctech software?
If it is possible please guide me in this field with details.
Elina

[markopo]

Hi Elina341.
Weaving is created especially for some painting, sanding and etc. purpose. That is not very difficult to implement  in your program. All aspect how to put weaving on your trajectory have great explenation in manual, I think in exppert programming book for kuka.
The point is that I've never used it in work and don't know that Your path will be correctly as You wish (in book is explenation that weaving is "on" for example Lin move. For welding in my firm we don't use any mechanical weaving (program running on standard movement build in kuka system and that is efficient and quick enough. Maybe the it any other solution for Your application. Maybe if You want to increase width of weld path, You can choose some other not thin electrode? I don't get what You want to do with this mechanical weaving.
So try to read some manuals for kuka couse  they are good and full.
Marek
markopo@wp.pl

[MartinH]

It's standard (and not an option) as far as I am aware.

Information on it can be found in the Function Generator manual - see http://www.robot-forum.com/robotforum/manuals_software_and_tools_for_kuka_robots/kuka_function_generator_manual-t709.0.html 

[elina341]

thank you alot for your answer.I studied the manual,but unfortunatlly it's not clear for me yet :sadsmiley:but as I got there is no particular key or softkey on the KCP for activating mechanical weaving ,for example on the old robot there is a PND key on the KCP that is used for this mean.
suppose that I want to do weave welding ,how I must do that through KCP .if it is possible please say the routine respectively.
best regards
Elina

[RAS-Skordos GR]

Hello Elina

As far as I'm aware, the mechanical weaving is dependant of the arctech software. I think it was standard on KRC1s and optional for KRC2, Anyways, if you have arctech installed, I think you should go through the technology menu on the top of the screen. Through that menu you declare the start point and end point of your motion. For example you define a start point (ptp) and then when you define the end point (lin) you get further options as for the speed, accel, weaving, pattern, etc.

Nikolaos

[elina341]

dear nikolaos,
my question is this:can we have weaving movement with out arctech and just with KSS or not?
I know that we can adjust related parameters with archtech but my question is about weaving movement .
regards
Elina
 

[RAS-Skordos GR]

Dear Elina

The answer that follows is based purely on my so-far experience and please don't take it as an absolute answer. I would apresiate it if you could inform me in case you find out that I am wrong.

As far as I know you can only have weaving as part of arctech. Not stand-alone. And even in this case you have to by-pass some signals like "Arc-established". Furthermore, it will have to start with a virtual arc-on and end with a virtual arc-off. So basicaly what I'm saying is, you can have weaving by starting a virtual arc. I was experimenting with this once and it worked.
Another thing that I know of is that you can write your own function. Let's say that you declare two points P1 and P2 that your robot never executes (just to have the coords in your .dat file). You can then write your own function in which with a for-loop you gradually calculate the next point until you reach P2. Each new point will be the tip of your  self-made weaving pattern. This also works, but you will need some quite sophisticated maths in order to work in every case.

Best regards

Nikolaos