Kawasaki Welding: LWS LWE vs WS and WE

    I have a welding robot and I have been welding in block step without problem. Robot motion instructions are specified with AC (air cut). WS (weld start), WC, (weld continue) and WE (weld end).

    I now want to move to implement the code that I have been testing in K-Roset, which uses the AS language. But I get Error E1102 -

    This Code creates the error:

    Jappro testpoint1,200

    setcondw1 1= 31,500,1,1,0,0,1
    setcondw2 1= 1.5,1,550,0,1
    LWS testpoint1
    LWE testpoint2 ,1,1
    Ldepart 200

    This code in block step works fine:

    AC JOINT SPEED4 ACCU4 TIMER0 OX= WX= #[93.479,39.738,-124.75,101.16,-62.735,-127.57,0] ;
    WS LINEAR SPEED4 TIMER0 OX= WX= #[88.229,47.754,-122.92,109.47,-63.288,-134.58,0] ;
    WE LINEAR WELD_COND1 OX= WX= #[88.319,46.178,-127.01,110.53,-64.153,-137.21,0] ;
    AC JOINT SPEED9 ACCU4 TIMER0 OX= WX= #[92.957,39.02,-128.77,103.3,-63.305,-131.21,0] ;


    I feel like the error indicates that there is an option that Kawasaki needs to assist me to turn on? I cannot find anything more than the Error text int he manuals, and my internet searching hasn't helped, yet.


    Does anybody here have any ideas?


    Thanks

  • greenman September 5, 2024 at 12:17 AM

    Changed the title of the thread from “LWS LWE vs WS and WE” to “Kawasaki Welding: LWS LWE vs WS and WE”.

    I would check your SETCOND parameters with W1 and W2......especially W1 as that is the first applied to LWS command.

    It is likely trying to apply a parameter to the LWS that the option is not set.

    SETCONDW1 and SETCONDW2 use parameters set in aux 1401 Arc weld conditions for the number you reference to in the command, so it is probable in the condition 1 you are using, the parameters in 1401 contain a setting relating to an option not set.

    You can have a look into using W1SET and W2SET instead.
    These do no access any aux arc weld parameters, they apply the parameters used directly in the command.

    For example a simple AS parameter command set for simple welding should yield no errors.
    W1SET 1 = speed, current, voltage.
    W2SET 1 = dwell time, current, voltage.

    Thank you kwakisaki - I will try that.

    I was advised by Kawasaki to use the SETCONDW1 and SETCONDW2. previously, I was just using the settings in AUX1401 and AUX1402 to set the weld parameters for the different conditions. But based on your explanation, I suspect I have implemented the parameters incorrectly.

    I am using a Fronius welding system in job mode. it is one of 4 possible operational modes. I know that much of this data in the SETCONDW1 and SETCONDW2 (Aux 1401 and 1402) is not used or communicated to the Fronius welding system when using job mode. The Fronius power supply controls it in its job definitions. I may therefore be inadvertently causing the clash by trying to specify data that is not used. I duplicated the job data in both the Kawasaki weldconditions and in the Fronius Power supply, assuming that if it were not needed or used that it would be ignored.

    I spent some more time in the manuals and I found an example of job mode, where the unused/unnecessary parameters are all 0. hopefully making the superfluous data 0 will fix my problem.

    I will let you know tomorrow if that solves my challenges. Thanks again for taking the time to assist.

    Code
    ;===========================================
;Weld parameters for the Robot
 W1SET 1 = 40,0,0,5,1.5,0; Weld Start
 W2SET 1 = 0.1,0,0; Weld Crater
;Set Fronius Parameters
 SET_ARC_W1JOBCOND 1 = 40,14; Wld Speed,Job No.
 SET_ARC_WELDMODE 3; Set Job Mode
;===========================================

    The above is a snippet from some testing I did years ago when Fronius option was released. which is pretty identical to the example you posted, so it looks like you're on the right track.

    Also so note, you have a monitor command called WLIST, WLIST 2 which show the internal W1 and W2 settings which are stored upon execution of the commands therefore you do not have to keep defining them (unless you are changing them).

    So in the programs, you just need to call the condition and the parameters are applied that are stored in WLIST and WLIST2.

    It was as you deduced, however, with Fronius job mode there are different ways to specify the welding parameters.

    SET_ARC_W1JOBNO 1=1 ;corrolate job number and weld condition number
    SET_ARC_W2JOBNO 1=1 ;corrolate job number and weld condition number for crater en end
    Set_ARC_WELDMODE 3 ;3 = job mode
    SET_ARC_W1JOBCOND 1=38,1 ;weld speed cm/min ,job number
    SET_ARC_W2JOBCOND 1=1,1 ;TIME, job number

    And it welded away.


    thanks for your help...


    Now onto start point sensing that doesn't seem to be working... but that is another thread if I cannot get to the bottom of it myself.

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