weaving and rotating positioner while welding artech digital

    KRC2 Ed05 KSS 5.5.16

    arctech digital V2.3.3

    KR2210L180_2 S C2 FLR ZH210

    KL 1500

    custom positioner with motor siemens


    Hello ,

    I have a system to weld round pieces (2m diameter) and 6 m length

    i need to use weaving while positioner its rotating and regulate the speed of welding

    i can regulate speed of welding and rotating moving the speed of welding because is used BASE 17 for kinematics


    Code
    Ptp   TOOL [1][base 17 ]
Ptp   TOOL [1][base 17 ]
Lin   TOOL [1][base 17 ]
Lin   TOOL [1][base 17 ]
arc on lin   TOOL [1][base 17 ]
arc switch circ   TOOL [1][base 17 ]
arc switch circ   TOOL [1][base 17 ]
arc switch circ   TOOL [1][base 17 ]
arc switch circ   TOOL [1][base 17 ]
arc off circ      TOOL [1][base 17 ]

    the arc switch circ , arc off circ have a little movements on the torch to avoid problem of same point equal to before programated, also between PI , PF i i rotate the positioner.

    So , this before mentioned work correctly to weld round pieces with the "fixed" torch and rotating round piece, i increase or decrease speed of welding as i need.

    This before mentioned is the solution for older post :

    Thread

    regulate speed of external axis while i'm using arctech20

    i'm trying to move an external axis at the same time the robot its welding
    it works , but i cant regulate the speed of external axis



    the robot is a KR16 with archtech 20 and one axis external vertical

    i generate a circle using the next points:

    Ptp
    Ptp
    Lin
    Lin
    arc on lin
    arc switch circ
    arc switch circ
    arc switch circ
    arc switch circ
    arc off lin
    all these points is sinchronized joint at the external axis , but the speed in external axis always is the same , even i modified welding speed ,…
    jesusvaricap
    November 1, 2013 at 3:06 AM

    in the past i wasnt using BASE 17 , for kinematics , if i use base 1 to 16 not work, not its possible to regulate speed welding


    Now the problem its: i need weaving , while i rotate the positioner and the speed need regulated as the process required

    i need a zig zag welding while the positioner its rotating to weld complete cincunferency

    its very important the movement constantly , if its not constantly the seam its thin or width.


    i see this 2 posts:

    Post

    Welding application: Robot shifting while weaving

    Hi everybody,

    I'm commissioning a KR8 R2010-2 with a DKP-400-V1 controlled by a KR C4 (KSS 8.6) including ArcTechBasic 3.3, ArcTechAdvanced 3.3, TouchSense 3.2, ArcSense 3.3 (and RSI 4.1).

    As part of the commissioning, we are providing 5 recipes including a pipe to pipe (butt joint with 5mm gap between the pipes).

    The fixture is installed on the positioner, with the positioner at 90deg and rotating 360deg while the robot is "staying in position" (see attached zip file containing images, video and…
    SBDP_4.0
    January 5, 2022 at 3:53 PM


    Thread

    KRC2 - Arc tech weave with a welding positioner

    Hi,

    I am using a KRC2 ED5, Kuka KR16 welding robot to weld flanges onto pipes.

    The pipe is mounted on a rotary table , driven with a kuka sevro motor configured as a 7th axis.

    The arc tech software will happily weld in a mechanical weave pattern whilst the welding torch is moving between two positions , but in this application the 7th axis rotates the pipe and the welding torch stays in one fixed position.

    My question is how to enable the weave patterns in the direction of the rotating weld seam…
    Pump Parts
    March 15, 2021 at 4:49 PM


    maybe $circ_type=#PATH its an option


    I need advices to sincronize the weaving , rotation positioner , regulate speed welding.


    attached my machine data


    BR.

    i solve partial with the next:

    im not using arctech digital technology just KRL to weld

    welding_on () external program with outputs to start to weld , opetation mode , number job etc

    Code
    OUT 2 'robot ready' State=TRUE

    on sps , my welder requires this signal


    on $VEL_EXTAX[2]=1 only was possible int values not floating , i think depends of versions

    i remember before use floating values like 0.26

    also on the line before to end the FOR

    Code
    LIN_REL {y -2.5 ,E2 -5.0} C_DIS

    i see the positioner stop a little and then constantly movements

    why happend this? im using C_DIS , each the cycle start i see a little pause on the posionert plate


    what suggest me to start to weld again in the in case error ? tip damaged , lack gas , lack wire , errror etc

    if im welding and at the 30% of welding occurs an error , how to start from specific point ?
    maybe interrupts , but how i declare ?

    with arctech in case errors occurs i press start inverse and then start positve and start to weld , but now im usisg cycle FOR

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