Hey, Im new to the fanuc robot world and trying weave with the robot on a vgroove pipe while a chuck spins the pipe. Im looking to get a horizontal weave although when adjusting the azimuth, elevation & L pattern angle....I am getting inconsistent results and none of which are giving me a horizontal fill pass. What am I missing here?
Weaving settings
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Tanisamara -
March 9, 2018 at 7:00 PM -
Thread is marked as Resolved.
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You can try to use A different weave pattern from the weave pattern sub-menu. when you use a positioner to rotate the part, there is much trial and error involved in getting the weld, and part rotate speed match.
You can also adjust the wire feed and trim till you get the results you are looking for. From what you say, you need to slow down the chuck speed, and increase the wire feed. Also move the weld torch to where
the weld is being made on A slightly uphill travel, not right on top of the pipe. Good luck. -
I assume you are trying to weld around the pipe
and Robot needs to wave "in place" while pipe is being rotated by the chuckSomebody asked the same before....
you can use wave sine
Frame type: TOOL
Elevation 0
Azimuth 0Place the nozzle with Tool x aligned with the groove
L P[3] 500mm/sec FINE Move to position
Weld Start[1,1] start welding
Weave Sine[1] start waving
SKIP CONDITION DI[25] = ON define SKIP condition to terminate the welding
L P[3] 120 sec CNT100 Skip, LBL[1] robot "moves" to the same position, use sec to prolong the duration
LBL[1] input DI[25] signals when the chuck made a complete rotation, terminates the weld
L P[3] 100mm/sec FINE
Weld End[1,2]
Weave End
L P[6] 500mm/sec CNT100 -
I spoke too soon, after creating a series of weave schedules...one of the weave sine schedules had my settings as followed...
1. Frequency-2.0 Hz
2. Amplitude-6.5 mm
3. Right Dwell-0.500 mm
4. Left Dwell-0.500 mm
5. L Pattern Angle: 0
6. Elevation: 0
7. Azimuth: 90 deg.
8. Centre Rise: 0 mm
9. Radius: 0 mm
robot mask group: 1, *, * (1 is my robot and the next * is my chuck which the pipe is fixed to)As my Group 2 chuck spins, I have set my welder to a 45 deg angle with the pipe and have it welding downhands. So robot stays in one spot and chuck spins pipe. This weave setting for one of my fill passes had worked awesome for my previous pipe and now trying to use the program again and getting a completely altered weave although I had not changed any setting in that weave schedule from the previous time using it.
1.L p[70] 125 in/min CNT100
:Tool_Offset PR[41]
2.L p[70] 125 in/min CNT 100 weld Start [2,3]
3.Weave sine [3]
4.L p[71] 125 in/min CNT 100 weld end [2,3]
5.Weave End
6.L p[71] 125 in/min CNT 100
:Tool_Offset PR[41]When jumping robot back to point 70 and beginning the weld....it seems to perform some type of weave. Then letting go of the deadman, reactivating deadman and resuming....my robot with do a different weave. So then I will jump back up to step 1 to restart from the beginning and find the robot will perform a whole other direction of weave. Why if I keep my perameters the same in schedule 3, and have not changed any other info in the program for this weld....why am I getting an inconsistent weave?
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You didn't post what frame are you using for your weaving
In my opinion you should use TOOL instead of Tool&PathIn my experience 30 degree angle works better to weld around a pipe
Please check this youtube video
https://www.youtube.com/watch?v=uP5G4roEZG0
90 degree Azimuth is odd, but it depends on the torch´s posture with respect to the groove
I assume you are aligning the tool Perpendicular to the groove (Parallel to the chuck axis of rotation)
that explains your are using an azimuth value of 90Since the chuck is an extended axis of the robot, ignore my previous post
What I wrote before is what you do when the chuck is moved by a separate controller (a VFD for example) independent of the robot