Kawasaki AS Language Spot Welding

All the examples I've seen utilized Block Step for spot welding. I could be wrong but I seem to remember the commands associated with the weld gun were only available in block step.

Most of the automotive companies use the dedicated spot welding functions offered by Kawasaki utilizing BLOCK programming methods.

It sounds like you may be referring to 3D compensation which Kawasaki makes available as an option.

I would advise to contact your local Kawasaki distributor to obtain the specific information you require to see if this option suits your needs.

Attached is the option manual for 3d compensation for your reference.

What exactly do you mean?

The commands you are referring to are AS Language commands.

You can use AS Language commands for any application as this is Kawasaki's proprietary generic programming language.

You keep mentioning spot welding, but you neglect to mention ANY information on your spot welding equipment to be integrated with.

For instance, arc welding consists of spot welding, resistance welding consists of spot welding.

Spot welding is performed by just activation of signals to:

- open/close the gun or initiate the start process to an arc weld power source.

- send start weld and wait for weld complete signals from the weld timer.

CLAMP commands are just a way of associated output signals to the instruction instead of using SIGNAL commands.

HSETCLAMP is used to set the CLAMP to operate single or double solenoids.

CLAMP number can be added to JMOVE/LMOVE command in AS.

Check the motion commands in AS manual, clamp number can be used there.

Quote from kwakisaki

You keep mentioning spot welding, but you neglect to mention ANY information on your spot welding equipment to be integrated with.

Spot welding can be achieved using:

- Arc weld

- Resistance welder - pneumatic or servo

If you had mentioned servo gun in the first place, you would have received quicker answer.

Attached is Servo Weld Gun Instruction Manual for your reference.

What did Kawasaki say about this when you asked them?

Quote from panter12

I do not have an address to contact:(

Global Network | Kawasaki Heavy Industries, Ltd.

You're welcome.

You have a steep learning curve ahead if you wish to proceed down the AS language route.

Motion and shifting data coordinates provided from an external source is relatively simple from an AS perspective but still requires good AS knowledge regarding the commands used to manipulate coordinate data correctly so that the robot moves the TCP correctly.

BLOCK programming uses explicit joint angles which simplifies things extremely.

I think you will more than likely need explicit use of NOP BLOCK program steps in order for Servo Gun control, so this is an area you will need to look into for sure.

Mixing AS and BLOCK is another powerful function of Kawasaki controllers.

Nearly ALL Automotive manufacturers using Kawasaki use BLOCK programming for their Spot Welding (Pneumatic or Servo Gun applications).

They use this as a standard not only because it utilizes the built in functions of the Kawasaki, but allows for easy maintenance and usage for maintenance staff and operators.

The AS route really requires an advanced level of understanding of the Kawasaki spot welding process when using Servo Guns as this is an external axis which is usually controlled via the built in functions and not by separate AS code.

You will be lucky to find any example code from Kawasaki in any documentation and therefore I would recommend contacting Kawasaki directly, do not feel reluctant to use them as a technical resource, they are a lot better than ABB, Fanuc, KUKA etc in responding to enquiries that I have found.

Good luck............

Nice........