Multipass welding in Yaskawa YRC100

    Hello folks,

    I am new to robot programming. I am trying to do multipass welding for which I have made a 'Job1' single-pass programme and I am calling Job1 in a For loop in another Job. However,after every pass, there should be an offset in Z-axis for the next pass. How do I do it? Is there an incremental mode option like the one we have in CNC, to set the last position of the robot as the new origin?

    Thank you.

  • Go to Best Answer

  • MOM May 22, 2023 at 10:17 AM

    Approved the thread.

    For the multi pass in welding, there are a function in Yaskawa, that is multilayer.

    It need a hardware board and active some functions in the robot.

    You can use easy way too. Use shift instruction, SFTON instruction use for shift all Mov instructions in any direction that you need.

    For example:

    NOP

    SFTON P000 //set only z value ex. Z=20.000

    MOVL V=100

    MOVL V=100

    SFTOF

    END

    In this example all MOVL between SFTON and SFTOF will shift amount 20 mm in Z direction.

    Thanks for the reply TSGIR .

    I tried your suggestion. I made two jobs, JOB1 and JOB2. JOB1 consists of the path with shift instruction at the end, as shown below:

    ---job1-----------it is the torch cycle (path)-----

    NOP

    MOVL V=50

    MOVL V=50

    MOVL V=50

    MOVL V=50

    SFTON P000

    END

    ----------------------

    and I am calling job1 in job2 as shown below:

    ----job2------to repeate the torch path---

    NOP

    FOR I000 = 1 TO 5

    CALL JOB:JOB1

    NEXT I000

    END

    -------------------

    but, the problem is once the cycle is complet the shift happens only ones. I want the shift at the end of each cycle.

    Please advise.

    • Best Answer

    You need to add the value of shift after each cycle to P000. Example you need each cycle the Z value increase 20 mm, the start job zero P000 , define other P001 position and only give Z value to it.

    After run each cycle in FOR, Add two position.

    ADD P000 P001

    At first cycle the shift value is 0

    At second cycle the shift value is 20 mm

    At 3rd cycle the shift value is 40 mm

    At 4rd cycle the shift value is 60 mm

    At 5rd cycle the shift value is 80 mm

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