Hi
I can adjust welding parameters, but there are cases where robot is too long without movement and I will get a lot of better result with parameters+move. If I have undertood correctly Fanuc is waiting "arc stable" from Fronius and after this starts moving. If I put start parameters(time) it will do this without movement same as ending parameters. One good welding case example is car exhaust pipe. Thickness 1,25mm and customers boundary conditions was that there must be penetration and it is not allowed that weld go through the inner pipe. So there 1,25mm space where you should hit the weld penetration. Weld is easy but start and end is difficult.
Thanks a lot for your advice. I will try these.