I'm fairly new to KUKA programming, so I apologize in advance if my doubts are simple or do not make sense.
I've been using the robot for welding using simple "LIN" motions, my robot does not communicate effectively with the welder, so I only have an input that basically turns on the welder.
However, I would now like to introduce mechanical weaving into my bead. The only way I found of activating mechanical weaving was through the "arc_off" technology in ArchTechDigital.
I was under the assumption that the weav_def_d2 file would fully define my weave pattern, but the images I've attached show that I need to introduce further inputs in the program, specifically the arc_off command. I intend to make a triangular weave with 2mm of amplitude and 2mm length (in the y axis) through a 50mm straight bead (in the x axis). The default inputs had the weave angle at 0 which would make the weave in the z axis, making the robot move up and down, by putting 90º there it now makes the weave in the y axis.
After all this everything should work correctly. However after copy pasting these lines of codes further down the program and checking if all the inputs are correct, the robot simply moves in a straight line without weaving.
So my question is, why is this happening, and is there a way to implement mechanical weaving without using the arc_off system? Some way of activating mechanical weaving and then every move will use it?
The code is attached