Weaving and ComArc sensor use for Arc Welding

    Greetings!

    Im learning how to use our Yaskawa Robot for Arc Welding.

    Ive read the PDFS and it states that for use of ComArc sensor for seam tracking needs to be used in combination with Weaving and that i should to test runs to set the ComArc sensor up with correct parameters.

    Im wondering how to Set up a test of this, for example a T weld of 5mm sheet steel.

    How do i Program the TCP(wire) ? Do i need to program the tip of the wire into the Seam of the T-Weld or do i need to take into account the Weaving pattern ?

    ---> for example I set weaving pattern half amplitude to 2 mm, Do i now need to take theese 2 mm into account when programming the path of the TCP and shift it away from the seam for 2 mm so the robot doesnt Weave into the wall ?

    Is the REFP1 registration enough for the robot to know, there is a wall there and then the robot wont Weave into the wall if i set the parameters of Weaving amplitude wrong ?


    Thank you for your time and asnwers

  • Go to Best Answer

    To use ComArc, you will have to use a weave, as ComArc tracks the seam by monitoring the current/voltage as the weave traverses across the seam. You will program your weld line as usual, and add in the weave command. The max peak travel away from your seam is defined by the amplitude of your weave setting. Think of weaving as a sine wave traveling back and forth along your weld seam.

    You will first have to "Teach" ComArc the seam you're looking to track. It's a detailed process, I'm not sure if it's included in the manual you're referencing. Generally done using larger than production welds using the same material, makes it easier for ComArc to learn.

    The reference point is used for telling the robot the direction to search for Touch sense, I can't remember if it is also used for ComArc.

    Hey arigatomrroboto thank you for the reply !

    I was reffering to this PDF : https://knowledge.motoman.com/hc/en-us/artic…ComArc-Function,

    Quote from arigatomrroboto

    The max peak travel away from your seam is defined by the amplitude of your weave setting.

    I have written up a simulation program for Weaving, set the LEFT-RIGHT amplitude at 2mm and UP-DOWN to 5mm.

    My question here is, do i need to take into account the 2mm (Left-right) amplutude when programing the path. Normaly I would position the Wire exactly where the seam is. Do i need to move the Weld path 2mm away from the wall now because of the weaving amplitude so it doesnt smash 2 mm into the wall ?

    Quote

    You will first have to "Teach" ComArc the seam you're looking to track. It's a detailed process, I'm not sure if it's included in the manual you're referencing. Generally done using larger than production welds using the same material, makes it easier for ComArc to learn.

    This will be my next task. I need to test how to teach the comarc sensor. The PDF describes as you mentioned to simulate the real weld on a test piece ( which i intend to do). Problem is I am scared of implementing a weave pattern as i dont know if i need to account for the amplitude shift as mentioned above and i dont want to smash the robot into the workpiece.

    Quote

    The reference point is used for telling the robot the direction to search for Touch sense, I can't remember if it is also used for ComArc.

    Yes, reference points are used to define the direction of weaving and same for Comarc.

    I was wondering if defining the REFP1 ( which is defined on the surface of the wall) would let the robot know there is a wall there and thus preventing the robot from smashing into it even if i define the amplitude/weld path wrong.

    So a little update on the weaving thing!

    I have written up a "mock" program for weawing a T weld. The workpiece is simmulated by a shoebox :).

    When i set the weave pattern to SINGLE (Left-Right 2mm, Up-down 3mm), and the programmed path of the seam isnt shifted from the shoebox for those 2 mm, the wire tip will smash into the box as i assumed.

    Follow up question: When welding, will the wire start melting when Arc is started and thus the wire wont smash into the workpiece ?


    Im gonna test the same program with a triangle pattern and report back in a couple of hours !


    Any additional information is appreciated, as im scared of moving to a real metal workpiece with welding to test this out, as i dont want to Smash the robot into the workpiece and damage something!


    Thank you for the replies!

  • darth0 January 28, 2025 at 2:02 PM

    Selected a post as the best answer.

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