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ABB_Application_Manual_Arc_and_Arc_Sensor
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https://www.uzivatelskadokumentace.cz/Software%20Products/Arc%20Welding%20Software/en/3HAC050988-001.pdf
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Advanced usage - Example 4
It is possible to create RAPID driven user menus. These menus enable interaction
so that an operator can respond by making choices from a menu list.
PROC ServiceRoutine()
MoveJ *,vmax,z10,tool0;
MoveJ *,vmax,z10,tool0;
MoveL pService,vmax,z10,tool0;
ServiceMenu;
RecoveryMenu;
MoveL *,vmax,z10,tool0;
MoveJ *,vmax,z10,tool0;
MoveJ pSafe,v1000,z10,tool0;
ENDPROC
PROC ServiceMenu()
VAR num nListIndex;
VAR listitem liMyItems{2};
VAR btnres button_answer;
liMyItems{1}.text:="Service Welding Torch";
liMyItems{2}.text:="Check Tool Calibration";
liMyItems{1}.image:="TorchService48.bmp";
liMyItems{2}.image:="ToolCalibration48.bmp";
nListIndex:=UIListView(\Result:=button_answer,\Header:="Service
Menu",liMyItems\Icon:=iconInfo);
IF nListIndex = 1 THEN
TorchService;
ELSEIF nListIndex = 2 THEN
ToolCalibration;
ENDIF
ENDPROC
PROC TorchService()
MoveJ RelTool(pToolClean,0,0,-200),v1000,z1,tool0;
MoveL pToolClean,v1000,fine,tool0;
! Run torch cleaner here
MoveL RelTool(pToolClean,0,0,-200),v1000,z1,tool0;
MoveJ pService,v1000,z10,tool0;
ENDPROC
PROC ToolCalibration()
MoveJ RelTool(pToolCalib,0,0,-200),v1000,z1,toll0;
MoveL pToolCalib,v1000,fine,tool0;
! Run BullsEye TCP calibration here
MoveL RelTool(pToolCalib,0,0,-200),v1000,z1,toll0;
MoveJ pService,v1000,z10,tool0;
ENDPROC
In this example we have extended the service routine with a call to a user defined
service menu, called ServiceMenu . The service menu will present two choices for
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
the operator, Service Welding Torch and Check Tool Calibration . This is what the
service menu in this example would look as follows.
![Image]
en1200000698
If the operator selects Service Welding Torch , the routine TorchService will be
executed. In this example the torch service routine contains move instructions that
move the robot from the service position, pService, to the torch service position,
pToolClean. Once this position is reached, instructions for running the torch cleaner
device may be added to this routine. After the torch has been serviced the robot
executes the programmed moves back to the service location, in this case pService.
This completes the user-defined ServiceRoutine procedure. The tool calibration
routine is implemented in a similar fashion.
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
5.3 Weld Error Recovery flowchart
Description
The following chart shows the basic program flow of the Weld Error Recovery
feature. The symbols marked with the letters A to E represents the available user
dialog windows on the FlexPendant.
![Image]
en1200000699
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5.3 Weld Error Recovery flowchart
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the operator, Service Welding Torch and Check Tool Calibration . This is what the
service menu in this example would look as follows.
![Image]
en1200000698
If the operator selects Service Welding Torch , the routine TorchService will be
executed. In this example the torch service routine contains move instructions that
move the robot from the service position, pService, to the torch service position,
pToolClean. Once this position is reached, instructions for running the torch cleaner
device may be added to this routine. After the torch has been serviced the robot
executes the programmed moves back to the service location, in this case pService.
This completes the user-defined ServiceRoutine procedure. The tool calibration
routine is implemented in a similar fashion.
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5 Weld Error Recovery
5.2 Programming Weld Error Recovery
Continued
5.3 Weld Error Recovery flowchart
Description
The following chart shows the basic program flow of the Weld Error Recovery
feature. The symbols marked with the letters A to E represents the available user
dialog windows on the FlexPendant.
![Image]
en1200000699
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5 Weld Error Recovery
5.3 Weld Error Recovery flowchart
5.4 Configuring Weld Error Recovery
Description
Weld Error Recovery is configured in the system parameters, topic Process , type
Arc Error Handler .
Default values
The default configuration has the following definition.
![Image]
en1200000694
Parameters
Data type
Description
Parameter
typeStringNormal
The name of the instance
ARC_ERR_HNDL
Name
typeStringNormal
The reference to instance
ARC_RECOVERY_MENU
Use Arc Recovery Menu
typeBoolean
If True, the Weld Error Recov-
ery will be used.
Enabled
typeFloat
Sets the default action that
will be executed at process
error.
Default Action
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5 Weld Error Recovery
5.4 Configuring Weld Error Recovery
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5.3 Weld Error Recovery flowchart
Description
The following chart shows the basic program flow of the Weld Error Recovery
feature. The symbols marked with the letters A to E represents the available user
dialog windows on the FlexPendant.
![Image]
en1200000699
54
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5 Weld Error Recovery
5.3 Weld Error Recovery flowchart
5.4 Configuring Weld Error Recovery
Description
Weld Error Recovery is configured in the system parameters, topic Process , type
Arc Error Handler .
Default values
The default configuration has the following definition.
![Image]
en1200000694
Parameters
Data type
Description
Parameter
typeStringNormal
The name of the instance
ARC_ERR_HNDL
Name
typeStringNormal
The reference to instance
ARC_RECOVERY_MENU
Use Arc Recovery Menu
typeBoolean
If True, the Weld Error Recov-
ery will be used.
Enabled
typeFloat
Sets the default action that
will be executed at process
error.
Default Action
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5 Weld Error Recovery
5.4 Configuring Weld Error Recovery
Data type
Description
Parameter
typeFloat
Sets the default resume type
that will be automatically re-
turned from recovery menu.
Default Resume Type
typeFloat
Sets the distance for the
MoveOut function.
Moveout Distance
typeFloat
Sets the default path recovery
speed.
Pathrecorder Speed
typeFloat
Sets the tool offset that is
used during the recovery mo-
tions.
Pathrecorder Tool Offset
Related information
Described in
Information
RecoveryPosSet - Set the recovery position
on page 164
Set the recovery position
RecoveryPosReset - Reset the recovery pos-
ition on page 167
Reset the recovery position
RecoveryMenu - Display the recovery menu
on page 160
Display the recovery menu
Configure the recovery menu on page 57
Configure the recovery menu
56
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5 Weld Error Recovery
5.4 Configuring Weld Error Recovery
Continued
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5.4 Configuring Weld Error Recovery
Description
Weld Error Recovery is configured in the system parameters, topic Process , type
Arc Error Handler .
Default values
The default configuration has the following definition.
![Image]
en1200000694
Parameters
Data type
Description
Parameter
typeStringNormal
The name of the instance
ARC_ERR_HNDL
Name
typeStringNormal
The reference to instance
ARC_RECOVERY_MENU
Use Arc Recovery Menu
typeBoolean
If True, the Weld Error Recov-
ery will be used.
Enabled
typeFloat
Sets the default action that
will be executed at process
error.
Default Action
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5 Weld Error Recovery
5.4 Configuring Weld Error Recovery
Data type
Description
Parameter
typeFloat
Sets the default resume type
that will be automatically re-
turned from recovery menu.
Default Resume Type
typeFloat
Sets the distance for the
MoveOut function.
Moveout Distance
typeFloat
Sets the default path recovery
speed.
Pathrecorder Speed
typeFloat
Sets the tool offset that is
used during the recovery mo-
tions.
Pathrecorder Tool Offset
Related information
Described in
Information
RecoveryPosSet - Set the recovery position
on page 164
Set the recovery position
RecoveryPosReset - Reset the recovery pos-
ition on page 167
Reset the recovery position
RecoveryMenu - Display the recovery menu
on page 160
Display the recovery menu
Configure the recovery menu on page 57
Configure the recovery menu
56
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5 Weld Error Recovery
5.4 Configuring Weld Error Recovery
Continued
5.5 Configure the recovery menu
Recovery menu
The Arc recovery menu allows the user to chose a suitable recovery method. The
recovery menu is configured in the system parameters, topic Process , type Arc
Recovery Menu .
The following selections can be hidden in the recovery menu.
Tapping Abort stops execution and aborts the process.
Abort
If Skip Forward is selected the robot will skip forward a short distance
from the error location and then execute a standard retry to resume
the welding.
Skip Forward
If Skip Seam is selected, the robot will finish the seam without welding.
The specified welding speed will be used for the remaining part of the
seam.
Skip Seam
If Skip Part is selected, the robot will run without welding until the
next part is executed or until the RecoveryPosReset instruction is
executed. The specified welding speed will be used for the remaining
part of the segment, the next segments will use the speed specified
in the Speed argument of the ArcX instruction. Welding will resume
at the next ArcXStart instruction.
Skip Part
When Resume is selected the robot executes a standard retry at the
error location. The robot will move backwards the configured Restart
Distance before restart.
Resume
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5.5 Configure the recovery menu
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Data type
Description
Parameter
typeFloat
Sets the default resume type
that will be automatically re-
turned from recovery menu.
Default Resume Type
typeFloat
Sets the distance for the
MoveOut function.
Moveout Distance
typeFloat
Sets the default path recovery
speed.
Pathrecorder Speed
typeFloat
Sets the tool offset that is
used during the recovery mo-
tions.
Pathrecorder Tool Offset
Related information
Described in
Information
RecoveryPosSet - Set the recovery position
on page 164
Set the recovery position
RecoveryPosReset - Reset the recovery pos-
ition on page 167
Reset the recovery position
RecoveryMenu - Display the recovery menu
on page 160
Display the recovery menu
Configure the recovery menu on page 57
Configure the recovery menu
56
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5 Weld Error Recovery
5.4 Configuring Weld Error Recovery
Continued
5.5 Configure the recovery menu
Recovery menu
The Arc recovery menu allows the user to chose a suitable recovery method. The
recovery menu is configured in the system parameters, topic Process , type Arc
Recovery Menu .
The following selections can be hidden in the recovery menu.
Tapping Abort stops execution and aborts the process.
Abort
If Skip Forward is selected the robot will skip forward a short distance
from the error location and then execute a standard retry to resume
the welding.
Skip Forward
If Skip Seam is selected, the robot will finish the seam without welding.
The specified welding speed will be used for the remaining part of the
seam.
Skip Seam
If Skip Part is selected, the robot will run without welding until the
next part is executed or until the RecoveryPosReset instruction is
executed. The specified welding speed will be used for the remaining
part of the segment, the next segments will use the speed specified
in the Speed argument of the ArcX instruction. Welding will resume
at the next ArcXStart instruction.
Skip Part
When Resume is selected the robot executes a standard retry at the
error location. The robot will move backwards the configured Restart
Distance before restart.
Resume
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5 Weld Error Recovery
5.5 Configure the recovery menu
Examples
The default configuration has the following definition.
![Image]
en1200000700
Parameters
Data type
Description
Parameter
typeStringNormal
The name of the instance ARC_RECOV-
ERY_MENU
Name
typeBoolean
If true, the Resume option will be hidden.
HideResumeAtErr
typeBoolean
If true, the Skip Forward option will be hidden.
HideSkipFwd
typeBoolean
If true, the Skip Seam option will be hidden.
HideSkipSeam
typeBoolean
If true, the Skip Part option will be hidden.
HideSkipPart
typeBoolean
If true, the Abort option will be hidden.
HideAbort
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5 Weld Error Recovery
5.5 Configure the recovery menu
Continued
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5.5 Configure the recovery menu
Recovery menu
The Arc recovery menu allows the user to chose a suitable recovery method. The
recovery menu is configured in the system parameters, topic Process , type Arc
Recovery Menu .
The following selections can be hidden in the recovery menu.
Tapping Abort stops execution and aborts the process.
Abort
If Skip Forward is selected the robot will skip forward a short distance
from the error location and then execute a standard retry to resume
the welding.
Skip Forward
If Skip Seam is selected, the robot will finish the seam without welding.
The specified welding speed will be used for the remaining part of the
seam.
Skip Seam
If Skip Part is selected, the robot will run without welding until the
next part is executed or until the RecoveryPosReset instruction is
executed. The specified welding speed will be used for the remaining
part of the segment, the next segments will use the speed specified
in the Speed argument of the ArcX instruction. Welding will resume
at the next ArcXStart instruction.
Skip Part
When Resume is selected the robot executes a standard retry at the
error location. The robot will move backwards the configured Restart
Distance before restart.
Resume
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5 Weld Error Recovery
5.5 Configure the recovery menu
Examples
The default configuration has the following definition.
![Image]
en1200000700
Parameters
Data type
Description
Parameter
typeStringNormal
The name of the instance ARC_RECOV-
ERY_MENU
Name
typeBoolean
If true, the Resume option will be hidden.
HideResumeAtErr
typeBoolean
If true, the Skip Forward option will be hidden.
HideSkipFwd
typeBoolean
If true, the Skip Seam option will be hidden.
HideSkipSeam
typeBoolean
If true, the Skip Part option will be hidden.
HideSkipPart
typeBoolean
If true, the Abort option will be hidden.
HideAbort
58
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5 Weld Error Recovery
5.5 Configure the recovery menu
Continued
5.6 Weld Error Recovery I/O interface
Usage
The Weld Error Recovery dialogs presented on the FlexPendant may be
acknowledged from a remote source through an optional I/O interface. This is
necessary if a PLC or other remote computer is used for the primary operator
interface while running production.
Architecture
All I/O signals used with the Weld Error Recovery I/O interface must be configured.
In a MultiMove system, each welding robot will have its own Weld Error recovery
I/O interface with separate I/O signals. The end user can specify his own signal
names for each welding robot in the system parameters (topic Process ). To simplify
this document, the signal names will here be described as signalname_x.
For example: diWER_Ack_X, where x specifies the welding robot number. The I/O
interface will be activated if all the signals for each welding robot are defined in
the system, otherwise the I/O interface will be disabled. See Configuring Weld
Error Recovery on page 55 .
Weld Error Recovery I/O Interface signal definition (X represents robot number
1-4).
Description
Signal definition
name
Signal common
name
Makes it possible to acknowledge a weld er-
ror using the here specified digital input sig-
nal.
diWER_Ack_X
Dialog Acknowledge
Digital Input
Indicates to a remote device which Weld Er-
ror Recovery prompt is active.
goWER_Dialog_X
Active Dialog Type
Valid output data range: 0-6
Recommended Group Output size: 7 bits
0 No Active Dialog
1
Get Error Action
2
Recovery Menu
3
ServiceRoutine not found
4
Moved from error point
5
Moved from break point
6
Skip forward
Indicates to a remote device that a dialog is
active and awaiting a response.
doWER_Dialog_X
Dialog Active
Digital Output
Indicates to a remote device that a valid Es-
cape path is available.
doWER_EscapeOK_X
Escape Possible
Digital Output
Continues on next page
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
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Examples
The default configuration has the following definition.
![Image]
en1200000700
Parameters
Data type
Description
Parameter
typeStringNormal
The name of the instance ARC_RECOV-
ERY_MENU
Name
typeBoolean
If true, the Resume option will be hidden.
HideResumeAtErr
typeBoolean
If true, the Skip Forward option will be hidden.
HideSkipFwd
typeBoolean
If true, the Skip Seam option will be hidden.
HideSkipSeam
typeBoolean
If true, the Skip Part option will be hidden.
HideSkipPart
typeBoolean
If true, the Abort option will be hidden.
HideAbort
58
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5 Weld Error Recovery
5.5 Configure the recovery menu
Continued
5.6 Weld Error Recovery I/O interface
Usage
The Weld Error Recovery dialogs presented on the FlexPendant may be
acknowledged from a remote source through an optional I/O interface. This is
necessary if a PLC or other remote computer is used for the primary operator
interface while running production.
Architecture
All I/O signals used with the Weld Error Recovery I/O interface must be configured.
In a MultiMove system, each welding robot will have its own Weld Error recovery
I/O interface with separate I/O signals. The end user can specify his own signal
names for each welding robot in the system parameters (topic Process ). To simplify
this document, the signal names will here be described as signalname_x.
For example: diWER_Ack_X, where x specifies the welding robot number. The I/O
interface will be activated if all the signals for each welding robot are defined in
the system, otherwise the I/O interface will be disabled. See Configuring Weld
Error Recovery on page 55 .
Weld Error Recovery I/O Interface signal definition (X represents robot number
1-4).
Description
Signal definition
name
Signal common
name
Makes it possible to acknowledge a weld er-
ror using the here specified digital input sig-
nal.
diWER_Ack_X
Dialog Acknowledge
Digital Input
Indicates to a remote device which Weld Er-
ror Recovery prompt is active.
goWER_Dialog_X
Active Dialog Type
Valid output data range: 0-6
Recommended Group Output size: 7 bits
0 No Active Dialog
1
Get Error Action
2
Recovery Menu
3
ServiceRoutine not found
4
Moved from error point
5
Moved from break point
6
Skip forward
Indicates to a remote device that a dialog is
active and awaiting a response.
doWER_Dialog_X
Dialog Active
Digital Output
Indicates to a remote device that a valid Es-
cape path is available.
doWER_EscapeOK_X
Escape Possible
Digital Output
Continues on next page
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Description
Signal definition
name
Signal common
name
Allows the remote device to communicate a
response. The context of the response is
dictated by the active dialog type.
giWER_Response_X
Response
Valid input data range: 1-5
Group Input 3 bits
Active dialog type 1:
1
Abort
2
Move Out
3
Escape
4
Recovery Menu
Active dialog type 2:
1
Abort
2
Skip Forward
3
Skip Seam
4
Skip Part
5
Resume
Active dialog type 3:
•
Skip forward distance
Indicates to the remote device the arc error
type.
goWER_ErrType_X
Error Type
Valid output data range:
0-12
0 = No active error type
Group Output 4 bit
Indicates to the remote device the specific
arc error number.
goWER_ErrNum_X
Error Number
Valid output data range:
0-102
0 = No active error type
Group Output 7 bit
Sequence
The I/O sequence is as follows:
1
An arc error occurs triggering a Weld Error Recovery prompt to be displayed.
Weld Error Recovery will set doWER_Dialog_X high to indicate an active
prompt. Weld Error Recovery will also set goWER_Dialog_X to indicate the
type of prompt. If the prompt is an error type, an error type and number will
be supplied on group outputs goWER_ErrType_X and goWER_ErrNum_X .
2
The remote device interprets the information. If the dialog prompt type
requires a numeric response, the remote device supplies the value on
giWER_Response_X .
3
The remote device acknowledges the prompt by pulsing the diWER_Ack_X
signal. Weld Error Recovery responds by closing the prompt on the
FlexPendant. Weld Error Recovery allows the diWER_Ack_X signal to stay
high for up to 3 seconds. If the signal is left on, a warning will be issued.
The Weld Error Recovery I/O interface will be inoperable until the diWER_Ack_X
signal is reset.
Continues on next page
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
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5.6 Weld Error Recovery I/O interface
Usage
The Weld Error Recovery dialogs presented on the FlexPendant may be
acknowledged from a remote source through an optional I/O interface. This is
necessary if a PLC or other remote computer is used for the primary operator
interface while running production.
Architecture
All I/O signals used with the Weld Error Recovery I/O interface must be configured.
In a MultiMove system, each welding robot will have its own Weld Error recovery
I/O interface with separate I/O signals. The end user can specify his own signal
names for each welding robot in the system parameters (topic Process ). To simplify
this document, the signal names will here be described as signalname_x.
For example: diWER_Ack_X, where x specifies the welding robot number. The I/O
interface will be activated if all the signals for each welding robot are defined in
the system, otherwise the I/O interface will be disabled. See Configuring Weld
Error Recovery on page 55 .
Weld Error Recovery I/O Interface signal definition (X represents robot number
1-4).
Description
Signal definition
name
Signal common
name
Makes it possible to acknowledge a weld er-
ror using the here specified digital input sig-
nal.
diWER_Ack_X
Dialog Acknowledge
Digital Input
Indicates to a remote device which Weld Er-
ror Recovery prompt is active.
goWER_Dialog_X
Active Dialog Type
Valid output data range: 0-6
Recommended Group Output size: 7 bits
0 No Active Dialog
1
Get Error Action
2
Recovery Menu
3
ServiceRoutine not found
4
Moved from error point
5
Moved from break point
6
Skip forward
Indicates to a remote device that a dialog is
active and awaiting a response.
doWER_Dialog_X
Dialog Active
Digital Output
Indicates to a remote device that a valid Es-
cape path is available.
doWER_EscapeOK_X
Escape Possible
Digital Output
Continues on next page
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Description
Signal definition
name
Signal common
name
Allows the remote device to communicate a
response. The context of the response is
dictated by the active dialog type.
giWER_Response_X
Response
Valid input data range: 1-5
Group Input 3 bits
Active dialog type 1:
1
Abort
2
Move Out
3
Escape
4
Recovery Menu
Active dialog type 2:
1
Abort
2
Skip Forward
3
Skip Seam
4
Skip Part
5
Resume
Active dialog type 3:
•
Skip forward distance
Indicates to the remote device the arc error
type.
goWER_ErrType_X
Error Type
Valid output data range:
0-12
0 = No active error type
Group Output 4 bit
Indicates to the remote device the specific
arc error number.
goWER_ErrNum_X
Error Number
Valid output data range:
0-102
0 = No active error type
Group Output 7 bit
Sequence
The I/O sequence is as follows:
1
An arc error occurs triggering a Weld Error Recovery prompt to be displayed.
Weld Error Recovery will set doWER_Dialog_X high to indicate an active
prompt. Weld Error Recovery will also set goWER_Dialog_X to indicate the
type of prompt. If the prompt is an error type, an error type and number will
be supplied on group outputs goWER_ErrType_X and goWER_ErrNum_X .
2
The remote device interprets the information. If the dialog prompt type
requires a numeric response, the remote device supplies the value on
giWER_Response_X .
3
The remote device acknowledges the prompt by pulsing the diWER_Ack_X
signal. Weld Error Recovery responds by closing the prompt on the
FlexPendant. Weld Error Recovery allows the diWER_Ack_X signal to stay
high for up to 3 seconds. If the signal is left on, a warning will be issued.
The Weld Error Recovery I/O interface will be inoperable until the diWER_Ack_X
signal is reset.
Continues on next page
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
Dialog types
There are six possible dialog prompts from Weld Error Recovery. These are:
1
Get Error Action - Choose Abort, MoveOut, Escape, or Resume.
2
RecoveryMenu - Resume type.
3
ServiceRoutine Not Found - Service routine specified in RecoveryPosSet
can't be located.
4
Moved from Error Location - Warning that robot will move slowly back to the
error location.
5
Moved from Breakpoint - Warning that robot will move slowly back to the
Breakpoint.
6
Skip Forward Distance – Number entry screen prompt for distance value.
When one of the six prompts is active, the digital output doWER_Dialog_X will be
high. Some of the prompts require a numeric response from giWER_Response_X
followed by an acknowledgment from diWER_Ack_X . Others simply require an
acknowledgment from diWER_Ack_X .
Dialog Type - Get Error Action
If goWER_Dialog_X is set to 1, the Get Error Action dialog is active. This is the
first dialog that appears after an arc error occurs.
![Image]
en1200000691
The Error Type will be sent on goWER_ErrType_X . The following is a list of possible
error types from arc.
ErrType
Description
Arc ERRNO
1
Error during the start of the process
AW_START_ERR
2
Error during the ignition phase
AW_IGNI_ERR
3
Error during the main weld phase
AW_WELD_ERR
4
Equipment error
AW_EQIP_ERR
5
Wire error
AW_WIRE_ERR
Continues on next page
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
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Description
Signal definition
name
Signal common
name
Allows the remote device to communicate a
response. The context of the response is
dictated by the active dialog type.
giWER_Response_X
Response
Valid input data range: 1-5
Group Input 3 bits
Active dialog type 1:
1
Abort
2
Move Out
3
Escape
4
Recovery Menu
Active dialog type 2:
1
Abort
2
Skip Forward
3
Skip Seam
4
Skip Part
5
Resume
Active dialog type 3:
•
Skip forward distance
Indicates to the remote device the arc error
type.
goWER_ErrType_X
Error Type
Valid output data range:
0-12
0 = No active error type
Group Output 4 bit
Indicates to the remote device the specific
arc error number.
goWER_ErrNum_X
Error Number
Valid output data range:
0-102
0 = No active error type
Group Output 7 bit
Sequence
The I/O sequence is as follows:
1
An arc error occurs triggering a Weld Error Recovery prompt to be displayed.
Weld Error Recovery will set doWER_Dialog_X high to indicate an active
prompt. Weld Error Recovery will also set goWER_Dialog_X to indicate the
type of prompt. If the prompt is an error type, an error type and number will
be supplied on group outputs goWER_ErrType_X and goWER_ErrNum_X .
2
The remote device interprets the information. If the dialog prompt type
requires a numeric response, the remote device supplies the value on
giWER_Response_X .
3
The remote device acknowledges the prompt by pulsing the diWER_Ack_X
signal. Weld Error Recovery responds by closing the prompt on the
FlexPendant. Weld Error Recovery allows the diWER_Ack_X signal to stay
high for up to 3 seconds. If the signal is left on, a warning will be issued.
The Weld Error Recovery I/O interface will be inoperable until the diWER_Ack_X
signal is reset.
Continues on next page
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
Dialog types
There are six possible dialog prompts from Weld Error Recovery. These are:
1
Get Error Action - Choose Abort, MoveOut, Escape, or Resume.
2
RecoveryMenu - Resume type.
3
ServiceRoutine Not Found - Service routine specified in RecoveryPosSet
can't be located.
4
Moved from Error Location - Warning that robot will move slowly back to the
error location.
5
Moved from Breakpoint - Warning that robot will move slowly back to the
Breakpoint.
6
Skip Forward Distance – Number entry screen prompt for distance value.
When one of the six prompts is active, the digital output doWER_Dialog_X will be
high. Some of the prompts require a numeric response from giWER_Response_X
followed by an acknowledgment from diWER_Ack_X . Others simply require an
acknowledgment from diWER_Ack_X .
Dialog Type - Get Error Action
If goWER_Dialog_X is set to 1, the Get Error Action dialog is active. This is the
first dialog that appears after an arc error occurs.
![Image]
en1200000691
The Error Type will be sent on goWER_ErrType_X . The following is a list of possible
error types from arc.
ErrType
Description
Arc ERRNO
1
Error during the start of the process
AW_START_ERR
2
Error during the ignition phase
AW_IGNI_ERR
3
Error during the main weld phase
AW_WELD_ERR
4
Equipment error
AW_EQIP_ERR
5
Wire error
AW_WIRE_ERR
Continues on next page
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
ErrType
Description
Arc ERRNO
6
Process stop was commanded.
AW_STOP_ERR
7
Tracking error
AW_TRACK_ERR
8
Tracking error
AW_TRACKSTA_ERR
9
Tracking correction error
AW_TRACKSTA_ERR
10
User error
AW_USERSIG_ERR
11
WDM stability out-out-of-range
AW_WDM_STABSTOP
12
WDM signature out-out-of-range
AW_WDM_SIGNSTOP
The information could be used to provide an appropriate description of the problem.
The Error Number will be sent on goWER_ErrNum_X . The following is the list of
possible specific errors.
ErrNum
Arc ElogNumber
Description
1
110401
Gas supervision error
2
110402
Water supervision error
3
110403
ArcOK supervision error
4
110404
Voltage supervision error
5
110405
Current supervision error
6
110406
Wirefeed supervision error
7
110407
Wirestick supervision error at the start of the
weld
8
110408
Arc Ignition supervision error
9
110409
SchedStrobe supervision error
10
110410
SchedBusy supervision error
11
110411
Process Stop supervision error
12
110412
Arc Fill supervision error
13
110413
Torch supervision error
14
110414
WeldOK supervision error
15
110415
Arc timeout supervision error
16
110416
WeldOk supervision error
21
110421
Gas exec supervision error
22
110422
Water exec supervision error
23
110423
Arc exec supervision error
24
110424
Voltage exec supervision error
25
110425
Current exec supervision error
26
110426
Wirefeed exec supervision error
27
110427
Process Stop supervision error
28
110428
Torch exec supervision error
29
110429
Arc ignition supervision error
30
110430
Arc Fill supervision error
Continues on next page
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5 Weld Error Recovery
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Dialog types
There are six possible dialog prompts from Weld Error Recovery. These are:
1
Get Error Action - Choose Abort, MoveOut, Escape, or Resume.
2
RecoveryMenu - Resume type.
3
ServiceRoutine Not Found - Service routine specified in RecoveryPosSet
can't be located.
4
Moved from Error Location - Warning that robot will move slowly back to the
error location.
5
Moved from Breakpoint - Warning that robot will move slowly back to the
Breakpoint.
6
Skip Forward Distance – Number entry screen prompt for distance value.
When one of the six prompts is active, the digital output doWER_Dialog_X will be
high. Some of the prompts require a numeric response from giWER_Response_X
followed by an acknowledgment from diWER_Ack_X . Others simply require an
acknowledgment from diWER_Ack_X .
Dialog Type - Get Error Action
If goWER_Dialog_X is set to 1, the Get Error Action dialog is active. This is the
first dialog that appears after an arc error occurs.
![Image]
en1200000691
The Error Type will be sent on goWER_ErrType_X . The following is a list of possible
error types from arc.
ErrType
Description
Arc ERRNO
1
Error during the start of the process
AW_START_ERR
2
Error during the ignition phase
AW_IGNI_ERR
3
Error during the main weld phase
AW_WELD_ERR
4
Equipment error
AW_EQIP_ERR
5
Wire error
AW_WIRE_ERR
Continues on next page
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
ErrType
Description
Arc ERRNO
6
Process stop was commanded.
AW_STOP_ERR
7
Tracking error
AW_TRACK_ERR
8
Tracking error
AW_TRACKSTA_ERR
9
Tracking correction error
AW_TRACKSTA_ERR
10
User error
AW_USERSIG_ERR
11
WDM stability out-out-of-range
AW_WDM_STABSTOP
12
WDM signature out-out-of-range
AW_WDM_SIGNSTOP
The information could be used to provide an appropriate description of the problem.
The Error Number will be sent on goWER_ErrNum_X . The following is the list of
possible specific errors.
ErrNum
Arc ElogNumber
Description
1
110401
Gas supervision error
2
110402
Water supervision error
3
110403
ArcOK supervision error
4
110404
Voltage supervision error
5
110405
Current supervision error
6
110406
Wirefeed supervision error
7
110407
Wirestick supervision error at the start of the
weld
8
110408
Arc Ignition supervision error
9
110409
SchedStrobe supervision error
10
110410
SchedBusy supervision error
11
110411
Process Stop supervision error
12
110412
Arc Fill supervision error
13
110413
Torch supervision error
14
110414
WeldOK supervision error
15
110415
Arc timeout supervision error
16
110416
WeldOk supervision error
21
110421
Gas exec supervision error
22
110422
Water exec supervision error
23
110423
Arc exec supervision error
24
110424
Voltage exec supervision error
25
110425
Current exec supervision error
26
110426
Wirefeed exec supervision error
27
110427
Process Stop supervision error
28
110428
Torch exec supervision error
29
110429
Arc ignition supervision error
30
110430
Arc Fill supervision error
Continues on next page
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
ErrNum
Arc ElogNumber
Description
31
110431
WeldOK supervision error
32
110432
Arc ignition supervision error
33
110433
Arc Fill supervision error
35
110435
User sig1 supervision error
36
110436
User sig2 supervision error
37
110437
User sig3 supervision error
38
110438
User sig4 supervision error
39
110439
User sig5 supervision error
40
110440
User sig1 supervision info
41
110441
User sig2 supervision info
42
110442
User sig3 supervision info
43
110443
User sig4 supervision info
44
110444
User sig5 supervision info
45
110445
Gas supervision info
46
110446
Water supervision info
47
110447
Arc supervision info
48
110448
Voltage supervision info
49
110449
Current supervision info
50
110450
Wirefeed supervision info
51
110451
Torch supervision info
100
110500
Track supervision error
101
110501
Track start error
102
110502
Track correction error
108
110508
Wirestick supervision error at the end of the weld
The information could be used to provide an appropriate description of the problem.
The Get Error Action dialog prompt has several possible responses that the remote
device may issue through giWER_Response_X , such as the following:
1 - Abort
2 - Move Out
3 - Escape (if valid)
4 - Resume or Recovery Menu depending on default behavior setting
For example, if the remote device wants the system to perform a Move Out action,
it should supply 2 to giWER_Response_X , followed by pulsing diWER_Ack_X .
Escape behavior
The escape feature is not always available. It is only available when a path has
been stored using RecoveryPosSet . The signal doWER_EscapeOK_X will be
high if a valid escape path is available. Otherwise it will be low. If an escape
command is issued by the remote device while doWER_EscapeOK_X is low, an
error message will appear and the request will be Move Out instead of Escape.
Continues on next page
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5 Weld Error Recovery
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Continued
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ErrType
Description
Arc ERRNO
6
Process stop was commanded.
AW_STOP_ERR
7
Tracking error
AW_TRACK_ERR
8
Tracking error
AW_TRACKSTA_ERR
9
Tracking correction error
AW_TRACKSTA_ERR
10
User error
AW_USERSIG_ERR
11
WDM stability out-out-of-range
AW_WDM_STABSTOP
12
WDM signature out-out-of-range
AW_WDM_SIGNSTOP
The information could be used to provide an appropriate description of the problem.
The Error Number will be sent on goWER_ErrNum_X . The following is the list of
possible specific errors.
ErrNum
Arc ElogNumber
Description
1
110401
Gas supervision error
2
110402
Water supervision error
3
110403
ArcOK supervision error
4
110404
Voltage supervision error
5
110405
Current supervision error
6
110406
Wirefeed supervision error
7
110407
Wirestick supervision error at the start of the
weld
8
110408
Arc Ignition supervision error
9
110409
SchedStrobe supervision error
10
110410
SchedBusy supervision error
11
110411
Process Stop supervision error
12
110412
Arc Fill supervision error
13
110413
Torch supervision error
14
110414
WeldOK supervision error
15
110415
Arc timeout supervision error
16
110416
WeldOk supervision error
21
110421
Gas exec supervision error
22
110422
Water exec supervision error
23
110423
Arc exec supervision error
24
110424
Voltage exec supervision error
25
110425
Current exec supervision error
26
110426
Wirefeed exec supervision error
27
110427
Process Stop supervision error
28
110428
Torch exec supervision error
29
110429
Arc ignition supervision error
30
110430
Arc Fill supervision error
Continues on next page
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
ErrNum
Arc ElogNumber
Description
31
110431
WeldOK supervision error
32
110432
Arc ignition supervision error
33
110433
Arc Fill supervision error
35
110435
User sig1 supervision error
36
110436
User sig2 supervision error
37
110437
User sig3 supervision error
38
110438
User sig4 supervision error
39
110439
User sig5 supervision error
40
110440
User sig1 supervision info
41
110441
User sig2 supervision info
42
110442
User sig3 supervision info
43
110443
User sig4 supervision info
44
110444
User sig5 supervision info
45
110445
Gas supervision info
46
110446
Water supervision info
47
110447
Arc supervision info
48
110448
Voltage supervision info
49
110449
Current supervision info
50
110450
Wirefeed supervision info
51
110451
Torch supervision info
100
110500
Track supervision error
101
110501
Track start error
102
110502
Track correction error
108
110508
Wirestick supervision error at the end of the weld
The information could be used to provide an appropriate description of the problem.
The Get Error Action dialog prompt has several possible responses that the remote
device may issue through giWER_Response_X , such as the following:
1 - Abort
2 - Move Out
3 - Escape (if valid)
4 - Resume or Recovery Menu depending on default behavior setting
For example, if the remote device wants the system to perform a Move Out action,
it should supply 2 to giWER_Response_X , followed by pulsing diWER_Ack_X .
Escape behavior
The escape feature is not always available. It is only available when a path has
been stored using RecoveryPosSet . The signal doWER_EscapeOK_X will be
high if a valid escape path is available. Otherwise it will be low. If an escape
command is issued by the remote device while doWER_EscapeOK_X is low, an
error message will appear and the request will be Move Out instead of Escape.
Continues on next page
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
Dialog type - RecoveryMenu
The RecoveryMenu dialog ordinarily appears after the Get Error Action dialog. It
provides the user a set of choices for restarting production. These areas follows:
1
Abort – Kills the process allows error to propagate leading to an execution
stop.
2
Skip Forward – Allows the user to skip forward a short distance and resume
welding.
3
Skip Seam – Jump ahead to the next seam and resume welding.
4
Skip Part – Do not start welding until the beginning of the next part cycle.
5
Resume – Resume welding at the error location.
![Image]
en1200000692
When the RecoveryMenu is active, the signal doWER_Dialog_X will be high and
goWER_Dialog_X will be set to 2. The remote device may respond to the dialog
by setting giWER_Response_X to a value from the list above, followed by pulsing
diWER_Break_X .
Continues on next page
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
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ErrNum
Arc ElogNumber
Description
31
110431
WeldOK supervision error
32
110432
Arc ignition supervision error
33
110433
Arc Fill supervision error
35
110435
User sig1 supervision error
36
110436
User sig2 supervision error
37
110437
User sig3 supervision error
38
110438
User sig4 supervision error
39
110439
User sig5 supervision error
40
110440
User sig1 supervision info
41
110441
User sig2 supervision info
42
110442
User sig3 supervision info
43
110443
User sig4 supervision info
44
110444
User sig5 supervision info
45
110445
Gas supervision info
46
110446
Water supervision info
47
110447
Arc supervision info
48
110448
Voltage supervision info
49
110449
Current supervision info
50
110450
Wirefeed supervision info
51
110451
Torch supervision info
100
110500
Track supervision error
101
110501
Track start error
102
110502
Track correction error
108
110508
Wirestick supervision error at the end of the weld
The information could be used to provide an appropriate description of the problem.
The Get Error Action dialog prompt has several possible responses that the remote
device may issue through giWER_Response_X , such as the following:
1 - Abort
2 - Move Out
3 - Escape (if valid)
4 - Resume or Recovery Menu depending on default behavior setting
For example, if the remote device wants the system to perform a Move Out action,
it should supply 2 to giWER_Response_X , followed by pulsing diWER_Ack_X .
Escape behavior
The escape feature is not always available. It is only available when a path has
been stored using RecoveryPosSet . The signal doWER_EscapeOK_X will be
high if a valid escape path is available. Otherwise it will be low. If an escape
command is issued by the remote device while doWER_EscapeOK_X is low, an
error message will appear and the request will be Move Out instead of Escape.
Continues on next page
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
Dialog type - RecoveryMenu
The RecoveryMenu dialog ordinarily appears after the Get Error Action dialog. It
provides the user a set of choices for restarting production. These areas follows:
1
Abort – Kills the process allows error to propagate leading to an execution
stop.
2
Skip Forward – Allows the user to skip forward a short distance and resume
welding.
3
Skip Seam – Jump ahead to the next seam and resume welding.
4
Skip Part – Do not start welding until the beginning of the next part cycle.
5
Resume – Resume welding at the error location.
![Image]
en1200000692
When the RecoveryMenu is active, the signal doWER_Dialog_X will be high and
goWER_Dialog_X will be set to 2. The remote device may respond to the dialog
by setting giWER_Response_X to a value from the list above, followed by pulsing
diWER_Break_X .
Continues on next page
64
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
Dialog type - Service Routine Not Found
This is an error message resulting from an invalid ServiceRoutine specified in a
RecoveryPosSet instruction.
![Image]
en1200000696
When this dialog is active, the signal doWER_Dialog_X will be high and
goWER_Dialog_X will be set to 3. It needs only to be acknowledged by pulsing
diWER_Break_X .
Dialog type - Moved from Error Location
This is an error message resulting from jogging the robot away from the error
location.
![Image]
en1200000701
When this dialog is active, the signal doWER_Dialog_X will be high and
goWER_Dialog_X will be set to 4. It needs only to be acknowledged by pulsing
diWER_Break_X . The system will attempt to return to the error location by making
a slow move towards the target.
Continues on next page
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
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Dialog type - RecoveryMenu
The RecoveryMenu dialog ordinarily appears after the Get Error Action dialog. It
provides the user a set of choices for restarting production. These areas follows:
1
Abort – Kills the process allows error to propagate leading to an execution
stop.
2
Skip Forward – Allows the user to skip forward a short distance and resume
welding.
3
Skip Seam – Jump ahead to the next seam and resume welding.
4
Skip Part – Do not start welding until the beginning of the next part cycle.
5
Resume – Resume welding at the error location.
![Image]
en1200000692
When the RecoveryMenu is active, the signal doWER_Dialog_X will be high and
goWER_Dialog_X will be set to 2. The remote device may respond to the dialog
by setting giWER_Response_X to a value from the list above, followed by pulsing
diWER_Break_X .
Continues on next page
64
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
Dialog type - Service Routine Not Found
This is an error message resulting from an invalid ServiceRoutine specified in a
RecoveryPosSet instruction.
![Image]
en1200000696
When this dialog is active, the signal doWER_Dialog_X will be high and
goWER_Dialog_X will be set to 3. It needs only to be acknowledged by pulsing
diWER_Break_X .
Dialog type - Moved from Error Location
This is an error message resulting from jogging the robot away from the error
location.
![Image]
en1200000701
When this dialog is active, the signal doWER_Dialog_X will be high and
goWER_Dialog_X will be set to 4. It needs only to be acknowledged by pulsing
diWER_Break_X . The system will attempt to return to the error location by making
a slow move towards the target.
Continues on next page
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5.6 Weld Error Recovery I/O interface
Continued
Dialog type - Moved from Breakpoint
This is an error message resulting from a ServiceRoutine failing to return the robot
to the breakpoint.
![Image]
en1200000697
When this dialog is active, the signal doWER_Dialog_X will be high and
goWER_Dialog_X will be set to 5. It needs only to be acknowledged by pulsing
diWER_Ack_X . The system will attempt to return to the breakpoint location by
making a slow move towards the target.
Dialog type - Skip Forward Distance
When Skip-Forward is selected from the RecoveryMenu, the user is prompted to
enter a skip-forward distance.
![Image]
en1200000695
When this dialog is active, the signal doWER_Dialog_X will be high and
goWER_Dialog_X will be set to 6. The remote device must supply a distance using
the giWER_Response_X signal. The value should be supplied in centimeters. So,
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Dialog type - Service Routine Not Found
This is an error message resulting from an invalid ServiceRoutine specified in a
RecoveryPosSet instruction.
![Image]
en1200000696
When this dialog is active, the signal doWER_Dialog_X will be high and
goWER_Dialog_X will be set to 3. It needs only to be acknowledged by pulsing
diWER_Break_X .
Dialog type - Moved from Error Location
This is an error message resulting from jogging the robot away from the error
location.
![Image]
en1200000701
When this dialog is active, the signal doWER_Dialog_X will be high and
goWER_Dialog_X will be set to 4. It needs only to be acknowledged by pulsing
diWER_Break_X . The system will attempt to return to the error location by making
a slow move towards the target.
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
Dialog type - Moved from Breakpoint
This is an error message resulting from a ServiceRoutine failing to return the robot
to the breakpoint.
![Image]
en1200000697
When this dialog is active, the signal doWER_Dialog_X will be high and
goWER_Dialog_X will be set to 5. It needs only to be acknowledged by pulsing
diWER_Ack_X . The system will attempt to return to the breakpoint location by
making a slow move towards the target.
Dialog type - Skip Forward Distance
When Skip-Forward is selected from the RecoveryMenu, the user is prompted to
enter a skip-forward distance.
![Image]
en1200000695
When this dialog is active, the signal doWER_Dialog_X will be high and
goWER_Dialog_X will be set to 6. The remote device must supply a distance using
the giWER_Response_X signal. The value should be supplied in centimeters. So,
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
to skip 2 cm, supply 2 to the group. Decimal values are not supported. Pulse
diWER_Ack_X to send the command.
Dialog Selection Masking
The selections available in the Get Error Action and RecoveryMenu dialog prompts
presented on the FlexPendant are configurable in the system parameters (topic
Process ). The remote device will be unaware of these settings. Selections provided
in the remote device will not be affected by the configuration specified in the system
parameters.
MultiMove considerations
No special provisions are necessary for MultiMove implementations. These
considerations are already handled by Weld Error Recovery.
See Weld Error Recovery flowchart on page 54 .
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
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Dialog type - Moved from Breakpoint
This is an error message resulting from a ServiceRoutine failing to return the robot
to the breakpoint.
![Image]
en1200000697
When this dialog is active, the signal doWER_Dialog_X will be high and
goWER_Dialog_X will be set to 5. It needs only to be acknowledged by pulsing
diWER_Ack_X . The system will attempt to return to the breakpoint location by
making a slow move towards the target.
Dialog type - Skip Forward Distance
When Skip-Forward is selected from the RecoveryMenu, the user is prompted to
enter a skip-forward distance.
![Image]
en1200000695
When this dialog is active, the signal doWER_Dialog_X will be high and
goWER_Dialog_X will be set to 6. The remote device must supply a distance using
the giWER_Response_X signal. The value should be supplied in centimeters. So,
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
to skip 2 cm, supply 2 to the group. Decimal values are not supported. Pulse
diWER_Ack_X to send the command.
Dialog Selection Masking
The selections available in the Get Error Action and RecoveryMenu dialog prompts
presented on the FlexPendant are configurable in the system parameters (topic
Process ). The remote device will be unaware of these settings. Selections provided
in the remote device will not be affected by the configuration specified in the system
parameters.
MultiMove considerations
No special provisions are necessary for MultiMove implementations. These
considerations are already handled by Weld Error Recovery.
See Weld Error Recovery flowchart on page 54 .
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
5.7 Configure weld error recovery I/O Interface
Description
Arc Error Handler I/O configures the Weld Error Recovery I/O part of Weld Error
Recovery feature in RobotWare Arc.
The Configuration parameters can be found in RobotStudio in the Configuration
Editor , topic Process , type Arc Error Handler I/O .
Examples
The default configuration has the following definition.
![Image]
en1200000702
Parameters
Data Type
Description
Parameter
typeStringNormal
The name of the instance
ARC_ERR_HNDL_IO. Must be (T_ROB1-
T_ROB4)
Name
go
The signal name for Active Dialog Type.
goWER_Dialog
do
The signal name for Dialog Active.
doWER_Dialog
do
The signal name for Escape Possible.
doWER_EscapeOK
di
The signal name for Prompt Acknowledge.
diWER_Ack
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to skip 2 cm, supply 2 to the group. Decimal values are not supported. Pulse
diWER_Ack_X to send the command.
Dialog Selection Masking
The selections available in the Get Error Action and RecoveryMenu dialog prompts
presented on the FlexPendant are configurable in the system parameters (topic
Process ). The remote device will be unaware of these settings. Selections provided
in the remote device will not be affected by the configuration specified in the system
parameters.
MultiMove considerations
No special provisions are necessary for MultiMove implementations. These
considerations are already handled by Weld Error Recovery.
See Weld Error Recovery flowchart on page 54 .
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5 Weld Error Recovery
5.6 Weld Error Recovery I/O interface
Continued
5.7 Configure weld error recovery I/O Interface
Description
Arc Error Handler I/O configures the Weld Error Recovery I/O part of Weld Error
Recovery feature in RobotWare Arc.
The Configuration parameters can be found in RobotStudio in the Configuration
Editor , topic Process , type Arc Error Handler I/O .
Examples
The default configuration has the following definition.
![Image]
en1200000702
Parameters
Data Type
Description
Parameter
typeStringNormal
The name of the instance
ARC_ERR_HNDL_IO. Must be (T_ROB1-
T_ROB4)
Name
go
The signal name for Active Dialog Type.
goWER_Dialog
do
The signal name for Dialog Active.
doWER_Dialog
do
The signal name for Escape Possible.
doWER_EscapeOK
di
The signal name for Prompt Acknowledge.
diWER_Ack
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5 Weld Error Recovery
5.7 Configure weld error recovery I/O Interface
Data Type
Description
Parameter
gi
The signal name for Response.
giWER_Response
go
The signal name for Error Type.
goWER_ErrType
go
The signal name for Error Number.
goWER_ErrNum
Related information
Described in
Information
RecoveryPosSet - Set the recovery position
on page 164
Set the recovery position
RecoveryPosReset - Reset the recovery pos-
ition on page 167
Reset the recovery position
RecoveryMenu - Display the recovery menu
on page 160
Display the recovery menu
Configure the recovery menu on page 57
Configure the recovery menu
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5 Weld Error Recovery
5.7 Configure weld error recovery I/O Interface
Continued
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5.7 Configure weld error recovery I/O Interface
Description
Arc Error Handler I/O configures the Weld Error Recovery I/O part of Weld Error
Recovery feature in RobotWare Arc.
The Configuration parameters can be found in RobotStudio in the Configuration
Editor , topic Process , type Arc Error Handler I/O .
Examples
The default configuration has the following definition.
![Image]
en1200000702
Parameters
Data Type
Description
Parameter
typeStringNormal
The name of the instance
ARC_ERR_HNDL_IO. Must be (T_ROB1-
T_ROB4)
Name
go
The signal name for Active Dialog Type.
goWER_Dialog
do
The signal name for Dialog Active.
doWER_Dialog
do
The signal name for Escape Possible.
doWER_EscapeOK
di
The signal name for Prompt Acknowledge.
diWER_Ack
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5 Weld Error Recovery
5.7 Configure weld error recovery I/O Interface
Data Type
Description
Parameter
gi
The signal name for Response.
giWER_Response
go
The signal name for Error Type.
goWER_ErrType
go
The signal name for Error Number.
goWER_ErrNum
Related information
Described in
Information
RecoveryPosSet - Set the recovery position
on page 164
Set the recovery position
RecoveryPosReset - Reset the recovery pos-
ition on page 167
Reset the recovery position
RecoveryMenu - Display the recovery menu
on page 160
Display the recovery menu
Configure the recovery menu on page 57
Configure the recovery menu
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5 Weld Error Recovery
5.7 Configure weld error recovery I/O Interface
Continued
5.8 Configure User defined error handling
Description
Arc Error Handler Properties configures the Weld Error Recovery, user defined
part of Weld Error Recovery feature in RobotWare Arc.
The configuration parameters can be found in RobotStudio in the Configuration
Editor , topic Process , type Arc Error Handler Properties .
Examples
The default configuration has the following definition.
![Image]
en1200000703
Parameters
Data Type
Description
Parameter
typeStringNormal
The name of the instance ARC_ERR_HNDL_PROP.
Must be (T_ROB1-T_ROB4)
Name
typeStringRAPID
The name of the RAPID procedure to be executed
before the Weld Error Recovery menu appears.
Userproc_pre
typeStringRAPID
The name of the RAPID procedure to be executed after
the Weld Error Recovery menu has appeared, when
the selection has been made in the menu.
Userproc_post
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Data Type
Description
Parameter
gi
The signal name for Response.
giWER_Response
go
The signal name for Error Type.
goWER_ErrType
go
The signal name for Error Number.
goWER_ErrNum
Related information
Described in
Information
RecoveryPosSet - Set the recovery position
on page 164
Set the recovery position
RecoveryPosReset - Reset the recovery pos-
ition on page 167
Reset the recovery position
RecoveryMenu - Display the recovery menu
on page 160
Display the recovery menu
Configure the recovery menu on page 57
Configure the recovery menu
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5 Weld Error Recovery
5.7 Configure weld error recovery I/O Interface
Continued
5.8 Configure User defined error handling
Description
Arc Error Handler Properties configures the Weld Error Recovery, user defined
part of Weld Error Recovery feature in RobotWare Arc.
The configuration parameters can be found in RobotStudio in the Configuration
Editor , topic Process , type Arc Error Handler Properties .
Examples
The default configuration has the following definition.
![Image]
en1200000703
Parameters
Data Type
Description
Parameter
typeStringNormal
The name of the instance ARC_ERR_HNDL_PROP.
Must be (T_ROB1-T_ROB4)
Name
typeStringRAPID
The name of the RAPID procedure to be executed
before the Weld Error Recovery menu appears.
Userproc_pre
typeStringRAPID
The name of the RAPID procedure to be executed after
the Weld Error Recovery menu has appeared, when
the selection has been made in the menu.
Userproc_post
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5 Weld Error Recovery
5.8 Configure User defined error handling
Related information
Described in
Information
RecoveryPosSet - Set the recovery position
on page 164
Set the recovery position
RecoveryPosReset - Reset the recovery pos-
ition on page 167
Reset the recovery position
RecoveryMenu - Display the recovery menu
on page 160
Display the recovery menu
Configure the recovery menu on page 57
Configure the recovery menu
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5 Weld Error Recovery
5.8 Configure User defined error handling
Continued
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5.8 Configure User defined error handling
Description
Arc Error Handler Properties configures the Weld Error Recovery, user defined
part of Weld Error Recovery feature in RobotWare Arc.
The configuration parameters can be found in RobotStudio in the Configuration
Editor , topic Process , type Arc Error Handler Properties .
Examples
The default configuration has the following definition.
![Image]
en1200000703
Parameters
Data Type
Description
Parameter
typeStringNormal
The name of the instance ARC_ERR_HNDL_PROP.
Must be (T_ROB1-T_ROB4)
Name
typeStringRAPID
The name of the RAPID procedure to be executed
before the Weld Error Recovery menu appears.
Userproc_pre
typeStringRAPID
The name of the RAPID procedure to be executed after
the Weld Error Recovery menu has appeared, when
the selection has been made in the menu.
Userproc_post
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5 Weld Error Recovery
5.8 Configure User defined error handling
Related information
Described in
Information
RecoveryPosSet - Set the recovery position
on page 164
Set the recovery position
RecoveryPosReset - Reset the recovery pos-
ition on page 167
Reset the recovery position
RecoveryMenu - Display the recovery menu
on page 160
Display the recovery menu
Configure the recovery menu on page 57
Configure the recovery menu
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5 Weld Error Recovery
5.8 Configure User defined error handling
Continued
5.9 User defined error handling
Description
There is a possibility for the user to configure and run user defined RAPID
procedures before and after the Weld Error Recovery dialogs are presented on the
FlexPendant. This can for example be used to set specific I/O signals to an external
PLC. The procedures are executed on StorePath level, so any motion instructions
executed in the procedure will not destroy the original path.
Examples
In the following example, the system is configured to run the RAPID procedures
MyPreProc and MyPostProc .
![Image]
en1200000704
In the procedure MyPreProc , the elog number for the process error is retrieved
via the Weld Error Recovery I/O interface group output signal goWER_ErrNum_1 .
The name of the current robtarget is retrieved via the RAPID string variable
stArcToPoint .
Continues on next page
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Related information
Described in
Information
RecoveryPosSet - Set the recovery position
on page 164
Set the recovery position
RecoveryPosReset - Reset the recovery pos-
ition on page 167
Reset the recovery position
RecoveryMenu - Display the recovery menu
on page 160
Display the recovery menu
Configure the recovery menu on page 57
Configure the recovery menu
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5 Weld Error Recovery
5.8 Configure User defined error handling
Continued
5.9 User defined error handling
Description
There is a possibility for the user to configure and run user defined RAPID
procedures before and after the Weld Error Recovery dialogs are presented on the
FlexPendant. This can for example be used to set specific I/O signals to an external
PLC. The procedures are executed on StorePath level, so any motion instructions
executed in the procedure will not destroy the original path.
Examples
In the following example, the system is configured to run the RAPID procedures
MyPreProc and MyPostProc .
![Image]
en1200000704
In the procedure MyPreProc , the elog number for the process error is retrieved
via the Weld Error Recovery I/O interface group output signal goWER_ErrNum_1 .
The name of the current robtarget is retrieved via the RAPID string variable
stArcToPoint .
Continues on next page
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5 Weld Error Recovery
5.9 User defined error handling
In the procedure MyPostProc , the selected resume type in the Recovery Menu is
retrieved via the RAPID variable nAEResumeType .
Program example
MODULE ErrorHandling
PROC MyPreProc()
VAR num nErrNo;
VAR string stJointName;
! Get Errornumber
nErrNo:=GetArcErrNo();
! Get Jointnumber
stJointName:=GetJointNumber();
UIMsgBox \Header:="MyPreProc T_ROB1", "Failing robtarget name:
"+stJointName\MsgLine2:="Arc Elog error:
"+ValToStr(nErrNo);
ENDPROC
PROC MyPostProc()
VAR string stBtnSelected;
TEST nAEResumeType
CASE RESUME_KILL:
stBtnSelected:="Abort";
CASE RESUME_SKIP_FWD:
stBtnSelected:="Skip FWD";
CASE RESUME_SKIP_SEAM:
stBtnSelected:="Skip Seam";
CASE RESUME_SKIP_PART:
stBtnSelected:="Skip Part";
CASE RESUME_SKIP_OFF:
stBtnSelected:="Resume";
ENDTEST
UIMsgBox \Header:="MyPostProc T_ROB1", "Selected action:
"+stBtnSelected;
ENDPROC
FUNC num GetArcErrNo()
RETURN GOutput(goWER_ErrNum_1);
ENDFUNC
FUNC string GetJointNumber()
RETURN stArcToPoint;
ENDFUNC
ENDMODULE
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5 Weld Error Recovery
5.9 User defined error handling
Continued
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5.9 User defined error handling
Description
There is a possibility for the user to configure and run user defined RAPID
procedures before and after the Weld Error Recovery dialogs are presented on the
FlexPendant. This can for example be used to set specific I/O signals to an external
PLC. The procedures are executed on StorePath level, so any motion instructions
executed in the procedure will not destroy the original path.
Examples
In the following example, the system is configured to run the RAPID procedures
MyPreProc and MyPostProc .
![Image]
en1200000704
In the procedure MyPreProc , the elog number for the process error is retrieved
via the Weld Error Recovery I/O interface group output signal goWER_ErrNum_1 .
The name of the current robtarget is retrieved via the RAPID string variable
stArcToPoint .
Continues on next page
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5 Weld Error Recovery
5.9 User defined error handling
In the procedure MyPostProc , the selected resume type in the Recovery Menu is
retrieved via the RAPID variable nAEResumeType .
Program example
MODULE ErrorHandling
PROC MyPreProc()
VAR num nErrNo;
VAR string stJointName;
! Get Errornumber
nErrNo:=GetArcErrNo();
! Get Jointnumber
stJointName:=GetJointNumber();
UIMsgBox \Header:="MyPreProc T_ROB1", "Failing robtarget name:
"+stJointName\MsgLine2:="Arc Elog error:
"+ValToStr(nErrNo);
ENDPROC
PROC MyPostProc()
VAR string stBtnSelected;
TEST nAEResumeType
CASE RESUME_KILL:
stBtnSelected:="Abort";
CASE RESUME_SKIP_FWD:
stBtnSelected:="Skip FWD";
CASE RESUME_SKIP_SEAM:
stBtnSelected:="Skip Seam";
CASE RESUME_SKIP_PART:
stBtnSelected:="Skip Part";
CASE RESUME_SKIP_OFF:
stBtnSelected:="Resume";
ENDTEST
UIMsgBox \Header:="MyPostProc T_ROB1", "Selected action:
"+stBtnSelected;
ENDPROC
FUNC num GetArcErrNo()
RETURN GOutput(goWER_ErrNum_1);
ENDFUNC
FUNC string GetJointNumber()
RETURN stArcToPoint;
ENDFUNC
ENDMODULE
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5.9 User defined error handling
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In the procedure MyPostProc , the selected resume type in the Recovery Menu is
retrieved via the RAPID variable nAEResumeType .
Program example
MODULE ErrorHandling
PROC MyPreProc()
VAR num nErrNo;
VAR string stJointName;
! Get Errornumber
nErrNo:=GetArcErrNo();
! Get Jointnumber
stJointName:=GetJointNumber();
UIMsgBox \Header:="MyPreProc T_ROB1", "Failing robtarget name:
"+stJointName\MsgLine2:="Arc Elog error:
"+ValToStr(nErrNo);
ENDPROC
PROC MyPostProc()
VAR string stBtnSelected;
TEST nAEResumeType
CASE RESUME_KILL:
stBtnSelected:="Abort";
CASE RESUME_SKIP_FWD:
stBtnSelected:="Skip FWD";
CASE RESUME_SKIP_SEAM:
stBtnSelected:="Skip Seam";
CASE RESUME_SKIP_PART:
stBtnSelected:="Skip Part";
CASE RESUME_SKIP_OFF:
stBtnSelected:="Resume";
ENDTEST
UIMsgBox \Header:="MyPostProc T_ROB1", "Selected action:
"+stBtnSelected;
ENDPROC
FUNC num GetArcErrNo()
RETURN GOutput(goWER_ErrNum_1);
ENDFUNC
FUNC string GetJointNumber()
RETURN stArcToPoint;
ENDFUNC
ENDMODULE
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5.9 User defined error handling
Continued
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6 Weld Repair
6.1 Introduction
Background
When welding synchronized with two or more welding robots and a positioner,
weld errors can sometimes occur in one of the welding robots. Since the motion
and process is synchronized, the welding robot without weld error will also stop
and perform error handling. Using the functionality Weld Repair will shut down the
arc only in the failing robot while the others are continuing its weld. The faulty seam
is automatically re-welded at the error location.
Functional description
If a part is welded in synchronized coordinated mode and a weld error is detected
(for example, the ArcEst signal goes low for robot 1), the robot will continue its
movement to the end of the weld and is not forced to stop by RobotWare Arc. The
other robots are also continuing its weld. The weld error is detected internally and
a fully automatic weld repair can be done after the robots reached the instruction
ArcLEnd .
The robots are moving backwards on path (with the help of the path recorder) into
a service position and do an automatic re-weld of the seam (move with welding
blocked until the error position is reached). All robots can move at the same time
as only one weld error has been detected. The number of automatic repair retries
is configured in the system parameters (PROC.cfg). If an ignition error or weld
error is detected during the repair phase a retry can be done. If all weld repairs are
done the robots can continue with the next seam.
If multiple errors are detected (for example, ArcEst goes low for more then one
robot on different locations within a seam) then the behavior is the same as
described but with the exception that now only one robot at the time can do the
re-weld. The other welding robot(s) are moving with blocked welding.
If for some reason the re-weld failed again than the robots are moving backwards
on path into the service position. User code can be executed in service position,
for example, to communicate with a PLC and inform the operator that the re-weld
failed. It is possible to continue the program from here on RAPID level to have the
possibility to move to the next seam.
It is also possible to display a message on the FlexPendant to interact with the
operator to continue production.
Weld Repair limitations
•
Each weld has to be defined in its own procedure.
•
Only synchronized motions can be used in the procedure. No independent
movements after a SynchMoveOff instruction.
•
The correct procedure name must be provided in the instruction
SetWRProcName .
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6.1 Introduction
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6 Weld Repair
6.1 Introduction
Background
When welding synchronized with two or more welding robots and a positioner,
weld errors can sometimes occur in one of the welding robots. Since the motion
and process is synchronized, the welding robot without weld error will also stop
and perform error handling. Using the functionality Weld Repair will shut down the
arc only in the failing robot while the others are continuing its weld. The faulty seam
is automatically re-welded at the error location.
Functional description
If a part is welded in synchronized coordinated mode and a weld error is detected
(for example, the ArcEst signal goes low for robot 1), the robot will continue its
movement to the end of the weld and is not forced to stop by RobotWare Arc. The
other robots are also continuing its weld. The weld error is detected internally and
a fully automatic weld repair can be done after the robots reached the instruction
ArcLEnd .
The robots are moving backwards on path (with the help of the path recorder) into
a service position and do an automatic re-weld of the seam (move with welding
blocked until the error position is reached). All robots can move at the same time
as only one weld error has been detected. The number of automatic repair retries
is configured in the system parameters (PROC.cfg). If an ignition error or weld
error is detected during the repair phase a retry can be done. If all weld repairs are
done the robots can continue with the next seam.
If multiple errors are detected (for example, ArcEst goes low for more then one
robot on different locations within a seam) then the behavior is the same as
described but with the exception that now only one robot at the time can do the
re-weld. The other welding robot(s) are moving with blocked welding.
If for some reason the re-weld failed again than the robots are moving backwards
on path into the service position. User code can be executed in service position,
for example, to communicate with a PLC and inform the operator that the re-weld
failed. It is possible to continue the program from here on RAPID level to have the
possibility to move to the next seam.
It is also possible to display a message on the FlexPendant to interact with the
operator to continue production.
Weld Repair limitations
•
Each weld has to be defined in its own procedure.
•
Only synchronized motions can be used in the procedure. No independent
movements after a SynchMoveOff instruction.
•
The correct procedure name must be provided in the instruction
SetWRProcName .
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6 Weld Repair
6.1 Introduction
•
In a FlexPositioner setup, the optional argument \FlexPositioner must
be used in the instruction SetWRProcName in the non-welding task/robot.
•
ArcMoveExtJ\Start must be used to indicate start to corresponding
ArcLStart instruction (synchronized).
•
Program displacement with the instruction PDispSet is not supported.
Addition to RobotWare Arc
•
Two new instructions are introduced:
•
RecoveryMenuWR
-
-
SetWRProcName
•
A new data type advSeamData is introduced
•
A new optional argument \Start is introduced to all ArcMoveX instructions
•
A new optional argument \advData is introduced to the ArcXStart
instructions
•
New PLC codes (active dialog types) for the weld error recovery I/O interface
•
Active Dialog Type Value 7 – RecoveryMenuWR prompted
-
-
Active Dialog Type Value 8 – Weld Repair Menu prompted
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6 Weld Repair
6.1 Introduction
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6 Weld Repair
6.1 Introduction
Background
When welding synchronized with two or more welding robots and a positioner,
weld errors can sometimes occur in one of the welding robots. Since the motion
and process is synchronized, the welding robot without weld error will also stop
and perform error handling. Using the functionality Weld Repair will shut down the
arc only in the failing robot while the others are continuing its weld. The faulty seam
is automatically re-welded at the error location.
Functional description
If a part is welded in synchronized coordinated mode and a weld error is detected
(for example, the ArcEst signal goes low for robot 1), the robot will continue its
movement to the end of the weld and is not forced to stop by RobotWare Arc. The
other robots are also continuing its weld. The weld error is detected internally and
a fully automatic weld repair can be done after the robots reached the instruction
ArcLEnd .
The robots are moving backwards on path (with the help of the path recorder) into
a service position and do an automatic re-weld of the seam (move with welding
blocked until the error position is reached). All robots can move at the same time
as only one weld error has been detected. The number of automatic repair retries
is configured in the system parameters (PROC.cfg). If an ignition error or weld
error is detected during the repair phase a retry can be done. If all weld repairs are
done the robots can continue with the next seam.
If multiple errors are detected (for example, ArcEst goes low for more then one
robot on different locations within a seam) then the behavior is the same as
described but with the exception that now only one robot at the time can do the
re-weld. The other welding robot(s) are moving with blocked welding.
If for some reason the re-weld failed again than the robots are moving backwards
on path into the service position. User code can be executed in service position,
for example, to communicate with a PLC and inform the operator that the re-weld
failed. It is possible to continue the program from here on RAPID level to have the
possibility to move to the next seam.
It is also possible to display a message on the FlexPendant to interact with the
operator to continue production.
Weld Repair limitations
•
Each weld has to be defined in its own procedure.
•
Only synchronized motions can be used in the procedure. No independent
movements after a SynchMoveOff instruction.
•
The correct procedure name must be provided in the instruction
SetWRProcName .
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6 Weld Repair
6.1 Introduction
•
In a FlexPositioner setup, the optional argument \FlexPositioner must
be used in the instruction SetWRProcName in the non-welding task/robot.
•
ArcMoveExtJ\Start must be used to indicate start to corresponding
ArcLStart instruction (synchronized).
•
Program displacement with the instruction PDispSet is not supported.
Addition to RobotWare Arc
•
Two new instructions are introduced:
•
RecoveryMenuWR
-
-
SetWRProcName
•
A new data type advSeamData is introduced
•
A new optional argument \Start is introduced to all ArcMoveX instructions
•
A new optional argument \advData is introduced to the ArcXStart
instructions
•
New PLC codes (active dialog types) for the weld error recovery I/O interface
•
Active Dialog Type Value 7 – RecoveryMenuWR prompted
-
-
Active Dialog Type Value 8 – Weld Repair Menu prompted
76
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6 Weld Repair
6.1 Introduction
Continued
6.2 Configuring Weld Repair
Basic procedure
All configuration of the weld repair functionality is done in the system parameters,
in the topic Process (Proc.cfg).
Use this procedure to activate the weld repair functionality:
1
Define the parameter Enabled in Arc Error Handler as TRUE .
![Image]
en1300000292
2
Define the parameter Arc Repair Enabled in Arc Error Handler as TRUE .
3
Define the signal ArcEst in Arc Equipment Digital Inputs as MINOR I .
I
For the StdIOWelder this can be done in Arc Equipment Digital Inputs . It might be in a different
place for other EquipmentClasses .
The EIO interface can be configured but this is not mandatory. However the current
status can be sent to a PLC to indicate the current system status.
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6 Weld Repair
6.2 Configuring Weld Repair
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•
In a FlexPositioner setup, the optional argument \FlexPositioner must
be used in the instruction SetWRProcName in the non-welding task/robot.
•
ArcMoveExtJ\Start must be used to indicate start to corresponding
ArcLStart instruction (synchronized).
•
Program displacement with the instruction PDispSet is not supported.
Addition to RobotWare Arc
•
Two new instructions are introduced:
•
RecoveryMenuWR
-
-
SetWRProcName
•
A new data type advSeamData is introduced
•
A new optional argument \Start is introduced to all ArcMoveX instructions
•
A new optional argument \advData is introduced to the ArcXStart
instructions
•
New PLC codes (active dialog types) for the weld error recovery I/O interface
•
Active Dialog Type Value 7 – RecoveryMenuWR prompted
-
-
Active Dialog Type Value 8 – Weld Repair Menu prompted
76
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6 Weld Repair
6.1 Introduction
Continued
6.2 Configuring Weld Repair
Basic procedure
All configuration of the weld repair functionality is done in the system parameters,
in the topic Process (Proc.cfg).
Use this procedure to activate the weld repair functionality:
1
Define the parameter Enabled in Arc Error Handler as TRUE .
![Image]
en1300000292
2
Define the parameter Arc Repair Enabled in Arc Error Handler as TRUE .
3
Define the signal ArcEst in Arc Equipment Digital Inputs as MINOR I .
I
For the StdIOWelder this can be done in Arc Equipment Digital Inputs . It might be in a different
place for other EquipmentClasses .
The EIO interface can be configured but this is not mandatory. However the current
status can be sent to a PLC to indicate the current system status.
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6 Weld Repair
6.2 Configuring Weld Repair
Arc Repair Properties
The behavior of the weld repair function is configured in the type Arc Repair
Properties .
Description
Parameter
The number of repair retires that are done before the robots are
moving into their service position.
Number of repair re-
tries
This parameter is only available for Full Automatic Mode .
The following modes can be selected:
•
Full Automatic Mode
•
Semi Automatic Mode
Mode
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6.2 Configuring Weld Repair
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6.2 Configuring Weld Repair
Basic procedure
All configuration of the weld repair functionality is done in the system parameters,
in the topic Process (Proc.cfg).
Use this procedure to activate the weld repair functionality:
1
Define the parameter Enabled in Arc Error Handler as TRUE .
![Image]
en1300000292
2
Define the parameter Arc Repair Enabled in Arc Error Handler as TRUE .
3
Define the signal ArcEst in Arc Equipment Digital Inputs as MINOR I .
I
For the StdIOWelder this can be done in Arc Equipment Digital Inputs . It might be in a different
place for other EquipmentClasses .
The EIO interface can be configured but this is not mandatory. However the current
status can be sent to a PLC to indicate the current system status.
Continues on next page
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6 Weld Repair
6.2 Configuring Weld Repair
Arc Repair Properties
The behavior of the weld repair function is configured in the type Arc Repair
Properties .
Description
Parameter
The number of repair retires that are done before the robots are
moving into their service position.
Number of repair re-
tries
This parameter is only available for Full Automatic Mode .
The following modes can be selected:
•
Full Automatic Mode
•
Semi Automatic Mode
Mode
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6 Weld Repair
6.2 Configuring Weld Repair
Continued
Arc Repair IO
The EIO interface that indicates the current weld repair status is configured in the
type Arc Repair IO . The signals can be independently configured for each robot.
Description
Data type
Parameter
Indicates that the weld repair func-
tion is active. The signal is set/reset
automatically from RobotWare Arc.
Digital output
Weld Repair Active
Indicates that a weld error occurred
while the weld repair function was
active. The signal is set/reset auto-
matically from RobotWare Arc.
Digital output
Weld Repair Error
Indicates that the service procedure
connected to the instruction
RecoveryPosSet is executed. The
signal is set/reset automatically
from RobotWare Arc.
Digital output
Weld Repair at Service
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6 Weld Repair
6.2 Configuring Weld Repair
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Arc Repair Properties
The behavior of the weld repair function is configured in the type Arc Repair
Properties .
Description
Parameter
The number of repair retires that are done before the robots are
moving into their service position.
Number of repair re-
tries
This parameter is only available for Full Automatic Mode .
The following modes can be selected:
•
Full Automatic Mode
•
Semi Automatic Mode
Mode
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6 Weld Repair
6.2 Configuring Weld Repair
Continued
Arc Repair IO
The EIO interface that indicates the current weld repair status is configured in the
type Arc Repair IO . The signals can be independently configured for each robot.
Description
Data type
Parameter
Indicates that the weld repair func-
tion is active. The signal is set/reset
automatically from RobotWare Arc.
Digital output
Weld Repair Active
Indicates that a weld error occurred
while the weld repair function was
active. The signal is set/reset auto-
matically from RobotWare Arc.
Digital output
Weld Repair Error
Indicates that the service procedure
connected to the instruction
RecoveryPosSet is executed. The
signal is set/reset automatically
from RobotWare Arc.
Digital output
Weld Repair at Service
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6 Weld Repair
6.2 Configuring Weld Repair
Continued
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6.2 Configuring Weld Repair
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Arc Repair IO
The EIO interface that indicates the current weld repair status is configured in the
type Arc Repair IO . The signals can be independently configured for each robot.
Description
Data type
Parameter
Indicates that the weld repair func-
tion is active. The signal is set/reset
automatically from RobotWare Arc.
Digital output
Weld Repair Active
Indicates that a weld error occurred
while the weld repair function was
active. The signal is set/reset auto-
matically from RobotWare Arc.
Digital output
Weld Repair Error
Indicates that the service procedure
connected to the instruction
RecoveryPosSet is executed. The
signal is set/reset automatically
from RobotWare Arc.
Digital output
Weld Repair at Service
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6 Weld Repair
6.2 Configuring Weld Repair
Continued
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6.2 Configuring Weld Repair
Continued
Arc Equipment Digital Inputs
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6.2 Configuring Weld Repair
Continued
Arc Equipment Digital Inputs
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6 Weld Repair
6.2 Configuring Weld Repair
Continued
6.3 Best practice
Avoiding risk of collisions
When programming, place the arc welding instructions in a separate procedure to
avoid the risk of collisions.
The following examples describe an arc welding application set up in two different
ways, where one has a high risk of collisions for example between robots and
fixtures, and the other has no risk of collision.
Example with high risk of collision
The following example program has a high risk of collision. The execution is
described as follows.
1
The execution starts in the procedure Part_1 .
2
A weld error occurs after that the welding has started.
3
The robot(s) move backwards on path to the instruction ArcLStart .
4
A recursive program call of Part_1 is done as the PP is still in the instruction
ArcLEnd .
This is a high risk of a collision as the robots will move from pArc10 to p10 .
5
Then the weld routine continues execution to the end, the robots move to
p50 .
6
Now the PP moves back to the instruction ArcLEnd (end of recursive call).
This is also a high risk for a collision as the robot moves from p50 back to
p40 .
PROC Part_1()
SetWRProcName "Part_1";
...
ArcLStart pArc10 ...;
...
ArcLEnd pArc50 ... ;
...
MoveJ p50 ... ;
...
ENDPROC
PROC Part_1()
SetWRProcName "Part_1";
...
ArcLStart pArc10 ...;
...
ArcLEnd pArc50 ... ;
...
MoveJ p50 ... ;
...
ENDPROC
Recursive call within ArcLEnd
Regular execution
Error
xx1300000328
Program example
PROC Part_1()
SetWRProcName "Part_1";
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1\SeamName:="Part_1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
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6.3 Best practice
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Arc Equipment Digital Inputs
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6 Weld Repair
6.2 Configuring Weld Repair
Continued
6.3 Best practice
Avoiding risk of collisions
When programming, place the arc welding instructions in a separate procedure to
avoid the risk of collisions.
The following examples describe an arc welding application set up in two different
ways, where one has a high risk of collisions for example between robots and
fixtures, and the other has no risk of collision.
Example with high risk of collision
The following example program has a high risk of collision. The execution is
described as follows.
1
The execution starts in the procedure Part_1 .
2
A weld error occurs after that the welding has started.
3
The robot(s) move backwards on path to the instruction ArcLStart .
4
A recursive program call of Part_1 is done as the PP is still in the instruction
ArcLEnd .
This is a high risk of a collision as the robots will move from pArc10 to p10 .
5
Then the weld routine continues execution to the end, the robots move to
p50 .
6
Now the PP moves back to the instruction ArcLEnd (end of recursive call).
This is also a high risk for a collision as the robot moves from p50 back to
p40 .
PROC Part_1()
SetWRProcName "Part_1";
...
ArcLStart pArc10 ...;
...
ArcLEnd pArc50 ... ;
...
MoveJ p50 ... ;
...
ENDPROC
PROC Part_1()
SetWRProcName "Part_1";
...
ArcLStart pArc10 ...;
...
ArcLEnd pArc50 ... ;
...
MoveJ p50 ... ;
...
ENDPROC
Recursive call within ArcLEnd
Regular execution
Error
xx1300000328
Program example
PROC Part_1()
SetWRProcName "Part_1";
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1\SeamName:="Part_1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
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6 Weld Repair
6.3 Best practice
ArcLEnd pArc50\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
RecoveryPosReset;
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50, tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
ENDPROC
Example with no risk of collision
The following example program has no risk of collisions because the program is
divided into to modules. The execution is described as follows.
1
The execution starts in the procedure Part_1 , which calls the procedure
Part_1_Seam1 .
2
A weld error occurs after that the welding has started, so the robot(s) move
backwards on path to the instruction ArcLStart (position pArc10 ).
3
A recursive program call of Part_1_Seam1 is done as the PP is still in the
instruction ArcLEnd .
There is no risk of a collision because the robot is already in the position
pArc10 .
4
The procedure Part_1_Seam1 is executed and the PP then jumps back to
the instruction ArcLEnd .
5
The PP leaves Part_1_Seam1 and jumps back to the procedure Part_1 .
There is no risk of a collision as the departure positions have not been
executed before.
PROC Part_1()
...
MoveJ p10... ;
...
Part_1_Seam1;
...
MoveJ p50 ... ;
...
ENDPROC
PROC Part_1_Seam1()
SetWRProcName "Part_1_Seam1";
...
ArcLStart pArc10 ...;
...
ArcLEnd pArc50 ... ;
...
ENDPROC
PROC Part_1_Seam1()
SetWRProcName "Part_1_Seam1";
...
ArcLStart pArc10 ...;
...
ArcLEnd pArc50 ... ;
...
ENDPROC
Recursive call within ArcLEnd
Regular execution
Error
xx1300000329
Program example
PROC Part_1()
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
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6.3 Best practice
Avoiding risk of collisions
When programming, place the arc welding instructions in a separate procedure to
avoid the risk of collisions.
The following examples describe an arc welding application set up in two different
ways, where one has a high risk of collisions for example between robots and
fixtures, and the other has no risk of collision.
Example with high risk of collision
The following example program has a high risk of collision. The execution is
described as follows.
1
The execution starts in the procedure Part_1 .
2
A weld error occurs after that the welding has started.
3
The robot(s) move backwards on path to the instruction ArcLStart .
4
A recursive program call of Part_1 is done as the PP is still in the instruction
ArcLEnd .
This is a high risk of a collision as the robots will move from pArc10 to p10 .
5
Then the weld routine continues execution to the end, the robots move to
p50 .
6
Now the PP moves back to the instruction ArcLEnd (end of recursive call).
This is also a high risk for a collision as the robot moves from p50 back to
p40 .
PROC Part_1()
SetWRProcName "Part_1";
...
ArcLStart pArc10 ...;
...
ArcLEnd pArc50 ... ;
...
MoveJ p50 ... ;
...
ENDPROC
PROC Part_1()
SetWRProcName "Part_1";
...
ArcLStart pArc10 ...;
...
ArcLEnd pArc50 ... ;
...
MoveJ p50 ... ;
...
ENDPROC
Recursive call within ArcLEnd
Regular execution
Error
xx1300000328
Program example
PROC Part_1()
SetWRProcName "Part_1";
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1\SeamName:="Part_1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
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6 Weld Repair
6.3 Best practice
ArcLEnd pArc50\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
RecoveryPosReset;
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50, tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
ENDPROC
Example with no risk of collision
The following example program has no risk of collisions because the program is
divided into to modules. The execution is described as follows.
1
The execution starts in the procedure Part_1 , which calls the procedure
Part_1_Seam1 .
2
A weld error occurs after that the welding has started, so the robot(s) move
backwards on path to the instruction ArcLStart (position pArc10 ).
3
A recursive program call of Part_1_Seam1 is done as the PP is still in the
instruction ArcLEnd .
There is no risk of a collision because the robot is already in the position
pArc10 .
4
The procedure Part_1_Seam1 is executed and the PP then jumps back to
the instruction ArcLEnd .
5
The PP leaves Part_1_Seam1 and jumps back to the procedure Part_1 .
There is no risk of a collision as the departure positions have not been
executed before.
PROC Part_1()
...
MoveJ p10... ;
...
Part_1_Seam1;
...
MoveJ p50 ... ;
...
ENDPROC
PROC Part_1_Seam1()
SetWRProcName "Part_1_Seam1";
...
ArcLStart pArc10 ...;
...
ArcLEnd pArc50 ... ;
...
ENDPROC
PROC Part_1_Seam1()
SetWRProcName "Part_1_Seam1";
...
ArcLStart pArc10 ...;
...
ArcLEnd pArc50 ... ;
...
ENDPROC
Recursive call within ArcLEnd
Regular execution
Error
xx1300000329
Program example
PROC Part_1()
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
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6 Weld Repair
6.3 Best practice
Continued
MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
Part_1_Seam1;
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50, tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
ENDPROC
PROC Part_1_Seam1()
SetWRProcName "Part_1_Seam1";
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1\SeamName:="Part_1_Seam1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcLEnd pArc50\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
RecoveryPosReset;
ENDPROC
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ArcLEnd pArc50\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
RecoveryPosReset;
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50, tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
ENDPROC
Example with no risk of collision
The following example program has no risk of collisions because the program is
divided into to modules. The execution is described as follows.
1
The execution starts in the procedure Part_1 , which calls the procedure
Part_1_Seam1 .
2
A weld error occurs after that the welding has started, so the robot(s) move
backwards on path to the instruction ArcLStart (position pArc10 ).
3
A recursive program call of Part_1_Seam1 is done as the PP is still in the
instruction ArcLEnd .
There is no risk of a collision because the robot is already in the position
pArc10 .
4
The procedure Part_1_Seam1 is executed and the PP then jumps back to
the instruction ArcLEnd .
5
The PP leaves Part_1_Seam1 and jumps back to the procedure Part_1 .
There is no risk of a collision as the departure positions have not been
executed before.
PROC Part_1()
...
MoveJ p10... ;
...
Part_1_Seam1;
...
MoveJ p50 ... ;
...
ENDPROC
PROC Part_1_Seam1()
SetWRProcName "Part_1_Seam1";
...
ArcLStart pArc10 ...;
...
ArcLEnd pArc50 ... ;
...
ENDPROC
PROC Part_1_Seam1()
SetWRProcName "Part_1_Seam1";
...
ArcLStart pArc10 ...;
...
ArcLEnd pArc50 ... ;
...
ENDPROC
Recursive call within ArcLEnd
Regular execution
Error
xx1300000329
Program example
PROC Part_1()
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
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6 Weld Repair
6.3 Best practice
Continued
MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
Part_1_Seam1;
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50, tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
ENDPROC
PROC Part_1_Seam1()
SetWRProcName "Part_1_Seam1";
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1\SeamName:="Part_1_Seam1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcLEnd pArc50\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
RecoveryPosReset;
ENDPROC
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6 Weld Repair
6.3 Best practice
Continued
6.4 Full Automatic Mode
Introduction
If a weld error occurs in full automatic mode (mode defined as Full Automatic
Mode ), all mechanical units are moving backwards on path with the help of the
path recorder and the weld procedure is automatically re-executed in such a way
that all robots and mechanical units are moving in synchronized mode and try to
re-weld the faulty seam. Only the failing robot that had the weld error will re-strike
the arc. All other robots are in blocked mode. If there was a weld error in more then
one robot then the procedure is re-executed again until all weld errors are fixed
for each robot. If another weld error occurs during the weld repair phase that cannot
be handled with the configured number of retries then the robots will move
backwards on path into a service position. Here a recovery menu can be displayed
and an operator or a PLC can decide how to continue.
If no recovery menu is used in the service position the default restart behavior at
the error position will be to resume ( Resume ). A recovery menu will be displayed
at the error position if the configured number of repair retries is reached.
![Image]
en1300000301
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MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
Part_1_Seam1;
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50, tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
ENDPROC
PROC Part_1_Seam1()
SetWRProcName "Part_1_Seam1";
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1\SeamName:="Part_1_Seam1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcLEnd pArc50\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
RecoveryPosReset;
ENDPROC
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6 Weld Repair
6.3 Best practice
Continued
6.4 Full Automatic Mode
Introduction
If a weld error occurs in full automatic mode (mode defined as Full Automatic
Mode ), all mechanical units are moving backwards on path with the help of the
path recorder and the weld procedure is automatically re-executed in such a way
that all robots and mechanical units are moving in synchronized mode and try to
re-weld the faulty seam. Only the failing robot that had the weld error will re-strike
the arc. All other robots are in blocked mode. If there was a weld error in more then
one robot then the procedure is re-executed again until all weld errors are fixed
for each robot. If another weld error occurs during the weld repair phase that cannot
be handled with the configured number of retries then the robots will move
backwards on path into a service position. Here a recovery menu can be displayed
and an operator or a PLC can decide how to continue.
If no recovery menu is used in the service position the default restart behavior at
the error position will be to resume ( Resume ). A recovery menu will be displayed
at the error position if the configured number of repair retries is reached.
![Image]
en1300000301
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6 Weld Repair
6.4 Full Automatic Mode
Program examples for Full Automatic Mode
The following examples describe scenarios of how the weld repair functionality
reacts on ignition errors and weld errors in full automatic mode. All scenarios are
based on synchronized welds and related to the program examples below.
Note
Make sure to use the correct name ( SetWRProcName ) in the welding sequence
to inform Robotware Arc which weld procedure should be re-executed with the
weld repair function. There might be a risk that the welding equipment, for
example the welding gun, gets damaged if the wrong procedure name is specified.
ArcMoveExtJ\Start must be used in the positioner's task to indicate start to
corresponding ArcLStart instruction.
Example program for robot 1
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE R1_Part_A
PROC PART_1_R1()
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Approach positions towards the weld
MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
R1_Part1_Seam1;
! Depart positions
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p60\ID:=110, vmax, z50, tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
ENDPROC
PROC R1_Part1_Seam1()
! Inform RobotWare Arc which procedure shall be re-executed
SetWRProcName "R1_Part1_Seam1";
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Set Recovery Position, here it will be "p30" from example
above
! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1\SeamName:="R1_Part1_Seam1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
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6.4 Full Automatic Mode
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6.4 Full Automatic Mode
Introduction
If a weld error occurs in full automatic mode (mode defined as Full Automatic
Mode ), all mechanical units are moving backwards on path with the help of the
path recorder and the weld procedure is automatically re-executed in such a way
that all robots and mechanical units are moving in synchronized mode and try to
re-weld the faulty seam. Only the failing robot that had the weld error will re-strike
the arc. All other robots are in blocked mode. If there was a weld error in more then
one robot then the procedure is re-executed again until all weld errors are fixed
for each robot. If another weld error occurs during the weld repair phase that cannot
be handled with the configured number of retries then the robots will move
backwards on path into a service position. Here a recovery menu can be displayed
and an operator or a PLC can decide how to continue.
If no recovery menu is used in the service position the default restart behavior at
the error position will be to resume ( Resume ). A recovery menu will be displayed
at the error position if the configured number of repair retries is reached.
![Image]
en1300000301
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6 Weld Repair
6.4 Full Automatic Mode
Program examples for Full Automatic Mode
The following examples describe scenarios of how the weld repair functionality
reacts on ignition errors and weld errors in full automatic mode. All scenarios are
based on synchronized welds and related to the program examples below.
Note
Make sure to use the correct name ( SetWRProcName ) in the welding sequence
to inform Robotware Arc which weld procedure should be re-executed with the
weld repair function. There might be a risk that the welding equipment, for
example the welding gun, gets damaged if the wrong procedure name is specified.
ArcMoveExtJ\Start must be used in the positioner's task to indicate start to
corresponding ArcLStart instruction.
Example program for robot 1
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE R1_Part_A
PROC PART_1_R1()
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Approach positions towards the weld
MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
R1_Part1_Seam1;
! Depart positions
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p60\ID:=110, vmax, z50, tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
ENDPROC
PROC R1_Part1_Seam1()
! Inform RobotWare Arc which procedure shall be re-executed
SetWRProcName "R1_Part1_Seam1";
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Set Recovery Position, here it will be "p30" from example
above
! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1\SeamName:="R1_Part1_Seam1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
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6.4 Full Automatic Mode
Continued
ArcC pArc40, pArc50\ID:=70, v100, sm1, wd1, z1,
tWeldGun\WObj:=wobjStn1;
ArcLEnd pArc50\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
Example program for robot 2
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE R1_Part_A
PROC PART_1_R2()
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Approach positions towards the weld
MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
R2_Part1_Seam1;
! Departure positions
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50,tWeldGun\WObj:=wobjStn1;
MoveJ p60\ID:=110, vmax, z50,tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
ENDPROC
PROC R2_Part1_Seam1()
! Define which procedure shall be re-executed
SetWRProcName "R2_Part1_Seam1";
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Set Recovery Position, here it will be "p30" from example
above
! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1\SeamName:="R2_Part1_Seam1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcC pArc40, pArc50\ID:=70, v100, sm1, wd1, z1,
tWeldGun\WObj:=wobjStn1;
ArcLEnd pArc60\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
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6.4 Full Automatic Mode
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Program examples for Full Automatic Mode
The following examples describe scenarios of how the weld repair functionality
reacts on ignition errors and weld errors in full automatic mode. All scenarios are
based on synchronized welds and related to the program examples below.
Note
Make sure to use the correct name ( SetWRProcName ) in the welding sequence
to inform Robotware Arc which weld procedure should be re-executed with the
weld repair function. There might be a risk that the welding equipment, for
example the welding gun, gets damaged if the wrong procedure name is specified.
ArcMoveExtJ\Start must be used in the positioner's task to indicate start to
corresponding ArcLStart instruction.
Example program for robot 1
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE R1_Part_A
PROC PART_1_R1()
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Approach positions towards the weld
MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
R1_Part1_Seam1;
! Depart positions
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p60\ID:=110, vmax, z50, tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
ENDPROC
PROC R1_Part1_Seam1()
! Inform RobotWare Arc which procedure shall be re-executed
SetWRProcName "R1_Part1_Seam1";
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Set Recovery Position, here it will be "p30" from example
above
! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1\SeamName:="R1_Part1_Seam1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
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Continued
ArcC pArc40, pArc50\ID:=70, v100, sm1, wd1, z1,
tWeldGun\WObj:=wobjStn1;
ArcLEnd pArc50\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
Example program for robot 2
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE R1_Part_A
PROC PART_1_R2()
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Approach positions towards the weld
MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
R2_Part1_Seam1;
! Departure positions
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50,tWeldGun\WObj:=wobjStn1;
MoveJ p60\ID:=110, vmax, z50,tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
ENDPROC
PROC R2_Part1_Seam1()
! Define which procedure shall be re-executed
SetWRProcName "R2_Part1_Seam1";
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Set Recovery Position, here it will be "p30" from example
above
! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1\SeamName:="R2_Part1_Seam1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcC pArc40, pArc50\ID:=70, v100, sm1, wd1, z1,
tWeldGun\WObj:=wobjStn1;
ArcLEnd pArc60\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
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Continued
! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
Example program for STN1
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE STN1_Part_A
PROC STN1_Part1()
IF NOT IsMechUnitActive(STN1) ActUnit STN1;
IF NOT IsSyncMoveOn() SyncMoveOn sync001, Alle_STN1;
MoveExtJ p10\ID:=10,vmax,z50;
MoveExtJ p20\ID:=20,vmax,z50;
MoveExtJ p30\ID:=30,vmax,z50;
STN1_Part1_Seam1;
MoveExtJ p40\ID:=90,vmax,z50;
MoveExtJ p50\ID:=100,vmax,z50;
MoveExtJ p60\ID:=110,vmax,z50;
SyncMoveOff sync002;
ENDPROC
PROC STN1_Part1_Seam1()
! Define which procedure shall be re-executed
SetWRProcName "STN1_Part1_Seam1";
IF NOT IsMechUnitActive(STN1) ActUnit STN1;
IF NOT IsSyncMoveOn() SyncMoveOn sync001, Alle_STN1;
! Set Recovery Position, here it will be "p30" from example
above
! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
! Optional argument "\Start" set to the corresponding ArcLStart
instruction
ArcMoveExtJ pArc10\ID:=40,vmax,fine\Start;
ArcMoveExtJ pArc20\ID:=50,vrot50,z1;
ArcMoveExtJ pArc30\ID:=60,vrot50,z1;
ArcMoveExtJ pArc40\ID:=70,vrot50,z1;
ArcMoveExtJ pArc50\ID:=80,vrot50,fine;
! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
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ArcC pArc40, pArc50\ID:=70, v100, sm1, wd1, z1,
tWeldGun\WObj:=wobjStn1;
ArcLEnd pArc50\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
Example program for robot 2
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE R1_Part_A
PROC PART_1_R2()
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Approach positions towards the weld
MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
R2_Part1_Seam1;
! Departure positions
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50,tWeldGun\WObj:=wobjStn1;
MoveJ p60\ID:=110, vmax, z50,tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
ENDPROC
PROC R2_Part1_Seam1()
! Define which procedure shall be re-executed
SetWRProcName "R2_Part1_Seam1";
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Set Recovery Position, here it will be "p30" from example
above
! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1\SeamName:="R2_Part1_Seam1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcC pArc40, pArc50\ID:=70, v100, sm1, wd1, z1,
tWeldGun\WObj:=wobjStn1;
ArcLEnd pArc60\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
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Continued
! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
Example program for STN1
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE STN1_Part_A
PROC STN1_Part1()
IF NOT IsMechUnitActive(STN1) ActUnit STN1;
IF NOT IsSyncMoveOn() SyncMoveOn sync001, Alle_STN1;
MoveExtJ p10\ID:=10,vmax,z50;
MoveExtJ p20\ID:=20,vmax,z50;
MoveExtJ p30\ID:=30,vmax,z50;
STN1_Part1_Seam1;
MoveExtJ p40\ID:=90,vmax,z50;
MoveExtJ p50\ID:=100,vmax,z50;
MoveExtJ p60\ID:=110,vmax,z50;
SyncMoveOff sync002;
ENDPROC
PROC STN1_Part1_Seam1()
! Define which procedure shall be re-executed
SetWRProcName "STN1_Part1_Seam1";
IF NOT IsMechUnitActive(STN1) ActUnit STN1;
IF NOT IsSyncMoveOn() SyncMoveOn sync001, Alle_STN1;
! Set Recovery Position, here it will be "p30" from example
above
! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
! Optional argument "\Start" set to the corresponding ArcLStart
instruction
ArcMoveExtJ pArc10\ID:=40,vmax,fine\Start;
ArcMoveExtJ pArc20\ID:=50,vrot50,z1;
ArcMoveExtJ pArc30\ID:=60,vrot50,z1;
ArcMoveExtJ pArc40\ID:=70,vrot50,z1;
ArcMoveExtJ pArc50\ID:=80,vrot50,fine;
! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
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Continued
Example program for a service routine
PROC mvToService()
VAR bool bTaskInSync:=FALSE;
! Check if in synchronized mode
IF IsSyncMoveOn() bTaskInSync:=TRUE;
GetCurrentPosition pEnter\Tool:= tWeldGun \Wobj:=wobj0;
! Suspend synchronization, robots are now in independent mode
IF bTaskInSync SyncMoveSuspend;
IF GetProcErr() THEN
MoveJ pService, v500, fine, tWeldGun\WObj:=wobj0;
RecoveryMenuWR;
ENDIF
! Get synchronized again
IF bTaskInSync SyncMoveResume;
! Move to saved position
IF bTaskInSync THEN
MoveJ pEnter\ID:=200, v500, fine, tWeldGun \WObj:=wobj0;
ELSE
MoveJ pEnter, v500, fine, tWeldGun \WObj:=wobj0;
ENDIF
ENDPROC
Scenario 1: Ignition error at arc start instruction for any robot
The robots are moving to the instruction ArcLStart and the path recorder is turned
on with the instruction RecoveryPosSet . A service routine is specified with the
optional argument \ServiceRoutine that is used with the instruction
RecoveryPosSet . Assuming that an ignition error occurs, for example for robot
1 and the configured number of retires is exceeded, then the robots will move
backwards on path into their defined recovery position and the specified service
routine (in this example mvToService ) is executed from here.
The synchronization between the robots and positioner can be suspended so that
individual movements, for example for gun cleaning can be done.
The function GetProcError() can be used to check which robot had a process
error so that only the failing robot will move into the service position.
A recovery menu can be used so that an operator or a PLC can decide how to
continue. A limited recovery menu (instruction RecoveryMenuWR ) can also be
used, but the buttons for that menu cannot be configured.
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! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
Example program for STN1
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE STN1_Part_A
PROC STN1_Part1()
IF NOT IsMechUnitActive(STN1) ActUnit STN1;
IF NOT IsSyncMoveOn() SyncMoveOn sync001, Alle_STN1;
MoveExtJ p10\ID:=10,vmax,z50;
MoveExtJ p20\ID:=20,vmax,z50;
MoveExtJ p30\ID:=30,vmax,z50;
STN1_Part1_Seam1;
MoveExtJ p40\ID:=90,vmax,z50;
MoveExtJ p50\ID:=100,vmax,z50;
MoveExtJ p60\ID:=110,vmax,z50;
SyncMoveOff sync002;
ENDPROC
PROC STN1_Part1_Seam1()
! Define which procedure shall be re-executed
SetWRProcName "STN1_Part1_Seam1";
IF NOT IsMechUnitActive(STN1) ActUnit STN1;
IF NOT IsSyncMoveOn() SyncMoveOn sync001, Alle_STN1;
! Set Recovery Position, here it will be "p30" from example
above
! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
! Optional argument "\Start" set to the corresponding ArcLStart
instruction
ArcMoveExtJ pArc10\ID:=40,vmax,fine\Start;
ArcMoveExtJ pArc20\ID:=50,vrot50,z1;
ArcMoveExtJ pArc30\ID:=60,vrot50,z1;
ArcMoveExtJ pArc40\ID:=70,vrot50,z1;
ArcMoveExtJ pArc50\ID:=80,vrot50,fine;
! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
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Continued
Example program for a service routine
PROC mvToService()
VAR bool bTaskInSync:=FALSE;
! Check if in synchronized mode
IF IsSyncMoveOn() bTaskInSync:=TRUE;
GetCurrentPosition pEnter\Tool:= tWeldGun \Wobj:=wobj0;
! Suspend synchronization, robots are now in independent mode
IF bTaskInSync SyncMoveSuspend;
IF GetProcErr() THEN
MoveJ pService, v500, fine, tWeldGun\WObj:=wobj0;
RecoveryMenuWR;
ENDIF
! Get synchronized again
IF bTaskInSync SyncMoveResume;
! Move to saved position
IF bTaskInSync THEN
MoveJ pEnter\ID:=200, v500, fine, tWeldGun \WObj:=wobj0;
ELSE
MoveJ pEnter, v500, fine, tWeldGun \WObj:=wobj0;
ENDIF
ENDPROC
Scenario 1: Ignition error at arc start instruction for any robot
The robots are moving to the instruction ArcLStart and the path recorder is turned
on with the instruction RecoveryPosSet . A service routine is specified with the
optional argument \ServiceRoutine that is used with the instruction
RecoveryPosSet . Assuming that an ignition error occurs, for example for robot
1 and the configured number of retires is exceeded, then the robots will move
backwards on path into their defined recovery position and the specified service
routine (in this example mvToService ) is executed from here.
The synchronization between the robots and positioner can be suspended so that
individual movements, for example for gun cleaning can be done.
The function GetProcError() can be used to check which robot had a process
error so that only the failing robot will move into the service position.
A recovery menu can be used so that an operator or a PLC can decide how to
continue. A limited recovery menu (instruction RecoveryMenuWR ) can also be
used, but the buttons for that menu cannot be configured.
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6.4 Full Automatic Mode
Continued
If the seam is not skipped by the operator then the Weld repair function will loop
until it gets a stable arc at the instruction ArcLStart .
![Image]
en1300000301
If no recovery menu is used in the service position the default restart behavior at
the error position will be to resume ( Resume ). The limited recovery menu will be
automatically presented at the error position if the configured number of repair
retries failed.
For more information about the instructions see RecoveryPosSet - Set the recovery
position on page164 , RecoveryPosReset - Reset the recovery position on page167 ,
and RecoveryMenu - Display the recovery menu on page 160 .
Scenario 2: Weld error along the path for any robot
The robots are moving to the instruction ArcLStart and the path recorder is turned
on with the instruction RecoveryPosSet . A service routine is specified with the
optional argument \ServiceRoutine that is used with the instruction
RecoveryPosSet . If a weld error is detected (for example the ArcEst signal goes
low for robot 1) the robot will continue its movement to the end of the weld and is
not forced to stop by RobotWare Arc . The other robot(s) are also continuing their
welds. The weld error is detected internally and a fully automatic weld repair is
done after the robots reached the instruction ArcLEnd . The robots move backwards
on path to the instruction ArcLStart and the weld program is re-executed. All
robots are moving in blocked mode to the error position of robot 1. Only robot 1
re-strikes the arc. (The restart distance is taken into account).
If multiple errors are detected (for example ArcEst goes low for more than one
robot on different locations within a seam) then the behavior is the same as
described but with the exception that now only one robot at the time can do the
re-weld. The other welding robots are moving with blocked welding. The repair
order cannot be changed and it is always done in the following order: first robot
1, second robot 2, third robot 3, and robot 4 will be last. For example if a weld error
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Example program for a service routine
PROC mvToService()
VAR bool bTaskInSync:=FALSE;
! Check if in synchronized mode
IF IsSyncMoveOn() bTaskInSync:=TRUE;
GetCurrentPosition pEnter\Tool:= tWeldGun \Wobj:=wobj0;
! Suspend synchronization, robots are now in independent mode
IF bTaskInSync SyncMoveSuspend;
IF GetProcErr() THEN
MoveJ pService, v500, fine, tWeldGun\WObj:=wobj0;
RecoveryMenuWR;
ENDIF
! Get synchronized again
IF bTaskInSync SyncMoveResume;
! Move to saved position
IF bTaskInSync THEN
MoveJ pEnter\ID:=200, v500, fine, tWeldGun \WObj:=wobj0;
ELSE
MoveJ pEnter, v500, fine, tWeldGun \WObj:=wobj0;
ENDIF
ENDPROC
Scenario 1: Ignition error at arc start instruction for any robot
The robots are moving to the instruction ArcLStart and the path recorder is turned
on with the instruction RecoveryPosSet . A service routine is specified with the
optional argument \ServiceRoutine that is used with the instruction
RecoveryPosSet . Assuming that an ignition error occurs, for example for robot
1 and the configured number of retires is exceeded, then the robots will move
backwards on path into their defined recovery position and the specified service
routine (in this example mvToService ) is executed from here.
The synchronization between the robots and positioner can be suspended so that
individual movements, for example for gun cleaning can be done.
The function GetProcError() can be used to check which robot had a process
error so that only the failing robot will move into the service position.
A recovery menu can be used so that an operator or a PLC can decide how to
continue. A limited recovery menu (instruction RecoveryMenuWR ) can also be
used, but the buttons for that menu cannot be configured.
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6 Weld Repair
6.4 Full Automatic Mode
Continued
If the seam is not skipped by the operator then the Weld repair function will loop
until it gets a stable arc at the instruction ArcLStart .
![Image]
en1300000301
If no recovery menu is used in the service position the default restart behavior at
the error position will be to resume ( Resume ). The limited recovery menu will be
automatically presented at the error position if the configured number of repair
retries failed.
For more information about the instructions see RecoveryPosSet - Set the recovery
position on page164 , RecoveryPosReset - Reset the recovery position on page167 ,
and RecoveryMenu - Display the recovery menu on page 160 .
Scenario 2: Weld error along the path for any robot
The robots are moving to the instruction ArcLStart and the path recorder is turned
on with the instruction RecoveryPosSet . A service routine is specified with the
optional argument \ServiceRoutine that is used with the instruction
RecoveryPosSet . If a weld error is detected (for example the ArcEst signal goes
low for robot 1) the robot will continue its movement to the end of the weld and is
not forced to stop by RobotWare Arc . The other robot(s) are also continuing their
welds. The weld error is detected internally and a fully automatic weld repair is
done after the robots reached the instruction ArcLEnd . The robots move backwards
on path to the instruction ArcLStart and the weld program is re-executed. All
robots are moving in blocked mode to the error position of robot 1. Only robot 1
re-strikes the arc. (The restart distance is taken into account).
If multiple errors are detected (for example ArcEst goes low for more than one
robot on different locations within a seam) then the behavior is the same as
described but with the exception that now only one robot at the time can do the
re-weld. The other welding robots are moving with blocked welding. The repair
order cannot be changed and it is always done in the following order: first robot
1, second robot 2, third robot 3, and robot 4 will be last. For example if a weld error
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6 Weld Repair
6.4 Full Automatic Mode
Continued
is detected in robot 2 and later along the path for robot 1 then the weld repair for
robot 1 will be done first.
If for some reason the re-weld fails again then the robots move backwards on path
into the service position.
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If the seam is not skipped by the operator then the Weld repair function will loop
until it gets a stable arc at the instruction ArcLStart .
![Image]
en1300000301
If no recovery menu is used in the service position the default restart behavior at
the error position will be to resume ( Resume ). The limited recovery menu will be
automatically presented at the error position if the configured number of repair
retries failed.
For more information about the instructions see RecoveryPosSet - Set the recovery
position on page164 , RecoveryPosReset - Reset the recovery position on page167 ,
and RecoveryMenu - Display the recovery menu on page 160 .
Scenario 2: Weld error along the path for any robot
The robots are moving to the instruction ArcLStart and the path recorder is turned
on with the instruction RecoveryPosSet . A service routine is specified with the
optional argument \ServiceRoutine that is used with the instruction
RecoveryPosSet . If a weld error is detected (for example the ArcEst signal goes
low for robot 1) the robot will continue its movement to the end of the weld and is
not forced to stop by RobotWare Arc . The other robot(s) are also continuing their
welds. The weld error is detected internally and a fully automatic weld repair is
done after the robots reached the instruction ArcLEnd . The robots move backwards
on path to the instruction ArcLStart and the weld program is re-executed. All
robots are moving in blocked mode to the error position of robot 1. Only robot 1
re-strikes the arc. (The restart distance is taken into account).
If multiple errors are detected (for example ArcEst goes low for more than one
robot on different locations within a seam) then the behavior is the same as
described but with the exception that now only one robot at the time can do the
re-weld. The other welding robots are moving with blocked welding. The repair
order cannot be changed and it is always done in the following order: first robot
1, second robot 2, third robot 3, and robot 4 will be last. For example if a weld error
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6.4 Full Automatic Mode
Continued
is detected in robot 2 and later along the path for robot 1 then the weld repair for
robot 1 will be done first.
If for some reason the re-weld fails again then the robots move backwards on path
into the service position.
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6 Weld Repair
6.4 Full Automatic Mode
Continued
6.5 Semi Automatic Mode
Introduction
If a part is welded in synchronized coordinated mode (mode defined as Semi
Automatic Mode ) and a weld error is detected (for example the signal ArcEst goes
low for robot 1), the robot will continue its movement to the end of the weld and is
not forced to stop by RobotWare Arc . The other robots are also continuing their
weld.
The weld error is detected internally and the robots will move backwards on path
with help of path recorder into their defined service position once they reached
the instruction ArcLEnd . No automatic weld repair is done in this mode, instead
the recovery menu has to be used and the operator or the PLC has to decide how
to continue. If for example resume is selected the robots are moving to the error
position and here only the failing robots re-strikes the arc. The other robots are
moving in blocked mode. If there was a weld error in more than one robot then the
procedure is re-executed again until all weld errors are fixed for each robot. If
another weld error occurs during the weld repair phase that cannot be handled
within he configured number of retries, then the robots will again move backwards
on path into a service position.
Note
If no recovery menu is used in the service position then the default restart
behavior at the error position will be to resume. A recovery menu will be presented
automatically at the error position if the configured number of repair retries is
reached.
Note
The data type AdvSeamData cannot be declared as TASK PERS ( MultiMove
regulations), use PERS instead. See advSeamData - Advanced seam data on
page 170 .
Note
In synchronized mode, the optional argument \Start has to be used with the
instruction ArcMoveExtJ to indicate the start for the corresponding ArcLStart
instruction.
Example program
PERS AdvSeamData AdvSeamData1:=[[FALSE,0,2,1,10,10],[TRUE,0,0.5,5]];
PROC Weld_1()
SetWRProcName "Weld_1";
SyncMoveOn sync001, allTasks;
MoveL p10\ID:=10, vmax, z10, tWeldGun;
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is detected in robot 2 and later along the path for robot 1 then the weld repair for
robot 1 will be done first.
If for some reason the re-weld fails again then the robots move backwards on path
into the service position.
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6.4 Full Automatic Mode
Continued
6.5 Semi Automatic Mode
Introduction
If a part is welded in synchronized coordinated mode (mode defined as Semi
Automatic Mode ) and a weld error is detected (for example the signal ArcEst goes
low for robot 1), the robot will continue its movement to the end of the weld and is
not forced to stop by RobotWare Arc . The other robots are also continuing their
weld.
The weld error is detected internally and the robots will move backwards on path
with help of path recorder into their defined service position once they reached
the instruction ArcLEnd . No automatic weld repair is done in this mode, instead
the recovery menu has to be used and the operator or the PLC has to decide how
to continue. If for example resume is selected the robots are moving to the error
position and here only the failing robots re-strikes the arc. The other robots are
moving in blocked mode. If there was a weld error in more than one robot then the
procedure is re-executed again until all weld errors are fixed for each robot. If
another weld error occurs during the weld repair phase that cannot be handled
within he configured number of retries, then the robots will again move backwards
on path into a service position.
Note
If no recovery menu is used in the service position then the default restart
behavior at the error position will be to resume. A recovery menu will be presented
automatically at the error position if the configured number of repair retries is
reached.
Note
The data type AdvSeamData cannot be declared as TASK PERS ( MultiMove
regulations), use PERS instead. See advSeamData - Advanced seam data on
page 170 .
Note
In synchronized mode, the optional argument \Start has to be used with the
instruction ArcMoveExtJ to indicate the start for the corresponding ArcLStart
instruction.
Example program
PERS AdvSeamData AdvSeamData1:=[[FALSE,0,2,1,10,10],[TRUE,0,0.5,5]];
PROC Weld_1()
SetWRProcName "Weld_1";
SyncMoveOn sync001, allTasks;
MoveL p10\ID:=10, vmax, z10, tWeldGun;
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6 Weld Repair
6.5 Semi Automatic Mode
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart p20\ID:=20, v100, sm1\AdvData:=
AdvSeamData1,wd1,fine,tWeldGun;
ArcL p30\ID:=30, v100, sm1, wd1, z10, tWeldGun;
ArcLEnd p40\ID:=40, v100, sm1, wd1, fine, tWeldGun;
RecoveryPosReset;
MoveJ p50\ID:=50, vmax, z10, tWeldGun;
SyncMoveOff sync_testblech_2;
ENDPROC
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6.5 Semi Automatic Mode
Introduction
If a part is welded in synchronized coordinated mode (mode defined as Semi
Automatic Mode ) and a weld error is detected (for example the signal ArcEst goes
low for robot 1), the robot will continue its movement to the end of the weld and is
not forced to stop by RobotWare Arc . The other robots are also continuing their
weld.
The weld error is detected internally and the robots will move backwards on path
with help of path recorder into their defined service position once they reached
the instruction ArcLEnd . No automatic weld repair is done in this mode, instead
the recovery menu has to be used and the operator or the PLC has to decide how
to continue. If for example resume is selected the robots are moving to the error
position and here only the failing robots re-strikes the arc. The other robots are
moving in blocked mode. If there was a weld error in more than one robot then the
procedure is re-executed again until all weld errors are fixed for each robot. If
another weld error occurs during the weld repair phase that cannot be handled
within he configured number of retries, then the robots will again move backwards
on path into a service position.
Note
If no recovery menu is used in the service position then the default restart
behavior at the error position will be to resume. A recovery menu will be presented
automatically at the error position if the configured number of repair retries is
reached.
Note
The data type AdvSeamData cannot be declared as TASK PERS ( MultiMove
regulations), use PERS instead. See advSeamData - Advanced seam data on
page 170 .
Note
In synchronized mode, the optional argument \Start has to be used with the
instruction ArcMoveExtJ to indicate the start for the corresponding ArcLStart
instruction.
Example program
PERS AdvSeamData AdvSeamData1:=[[FALSE,0,2,1,10,10],[TRUE,0,0.5,5]];
PROC Weld_1()
SetWRProcName "Weld_1";
SyncMoveOn sync001, allTasks;
MoveL p10\ID:=10, vmax, z10, tWeldGun;
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6 Weld Repair
6.5 Semi Automatic Mode
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart p20\ID:=20, v100, sm1\AdvData:=
AdvSeamData1,wd1,fine,tWeldGun;
ArcL p30\ID:=30, v100, sm1, wd1, z10, tWeldGun;
ArcLEnd p40\ID:=40, v100, sm1, wd1, fine, tWeldGun;
RecoveryPosReset;
MoveJ p50\ID:=50, vmax, z10, tWeldGun;
SyncMoveOff sync_testblech_2;
ENDPROC
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Program examples for Semi Automatic Mode
The following scenarios describes how the weld repair functionality reacts on
ignition errors and weld errors in semi automatic mode. All scenarios are based
on synchronized welds.
Example program for robot 1
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE R1_Part_A
PERS AdvSeamData AdvSeamData1:=[[TRUE,0.5,1,2,10,10],[FALSE,0,1,5]];
PROC PART_1_R1()
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Approach positions towards the weld
MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
R1_Part1_Seam1;
! Departure positions
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p60\ID:=110, vmax, z50, tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
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RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart p20\ID:=20, v100, sm1\AdvData:=
AdvSeamData1,wd1,fine,tWeldGun;
ArcL p30\ID:=30, v100, sm1, wd1, z10, tWeldGun;
ArcLEnd p40\ID:=40, v100, sm1, wd1, fine, tWeldGun;
RecoveryPosReset;
MoveJ p50\ID:=50, vmax, z10, tWeldGun;
SyncMoveOff sync_testblech_2;
ENDPROC
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Continued
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Program examples for Semi Automatic Mode
The following scenarios describes how the weld repair functionality reacts on
ignition errors and weld errors in semi automatic mode. All scenarios are based
on synchronized welds.
Example program for robot 1
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE R1_Part_A
PERS AdvSeamData AdvSeamData1:=[[TRUE,0.5,1,2,10,10],[FALSE,0,1,5]];
PROC PART_1_R1()
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Approach positions towards the weld
MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
R1_Part1_Seam1;
! Departure positions
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p60\ID:=110, vmax, z50, tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
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Continued
ENDPROC
PROC R1_Part1_Seam1()
! Define which procedure shall be re-executed
SetWRProcName "R1_Part1_Seam1";
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Set Recovery Position, here it will be "p30" from example
above
! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1\AdvData:=AdvSeamData1, wd1,
fine, tWeldGun\WObj:=wobjStn1\SeamName:="R1_Part1_Seam1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcC pArc40, pArc50\ID:=70, v100, sm1, wd1, z1,
tWeldGun\WObj:=wobjStn1;
ArcLEnd pArc50\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
Example program for robot 2
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE R1_Part_A
PERS AdvSeamData AdvSeamData1:=[[TRUE,0.5,1,2,10,10],[FALSE,0,1,5]];
PROC R2_PART1()
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Approach positions towards the weld
MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
R2_Part1_Seam1;
! Departure positions
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50,tWeldGun\WObj:=wobjStn1;
MoveJ p60\ID:=110, vmax, z50,tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
ENDPROC
PROC R2_Part1_Seam1()
! Define which procedure shall be re-executed
SetWRProcName "R2_Part1_Seam1";
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en1300000297
Program examples for Semi Automatic Mode
The following scenarios describes how the weld repair functionality reacts on
ignition errors and weld errors in semi automatic mode. All scenarios are based
on synchronized welds.
Example program for robot 1
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE R1_Part_A
PERS AdvSeamData AdvSeamData1:=[[TRUE,0.5,1,2,10,10],[FALSE,0,1,5]];
PROC PART_1_R1()
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Approach positions towards the weld
MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
R1_Part1_Seam1;
! Departure positions
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p60\ID:=110, vmax, z50, tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
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ENDPROC
PROC R1_Part1_Seam1()
! Define which procedure shall be re-executed
SetWRProcName "R1_Part1_Seam1";
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Set Recovery Position, here it will be "p30" from example
above
! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1\AdvData:=AdvSeamData1, wd1,
fine, tWeldGun\WObj:=wobjStn1\SeamName:="R1_Part1_Seam1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcC pArc40, pArc50\ID:=70, v100, sm1, wd1, z1,
tWeldGun\WObj:=wobjStn1;
ArcLEnd pArc50\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
Example program for robot 2
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE R1_Part_A
PERS AdvSeamData AdvSeamData1:=[[TRUE,0.5,1,2,10,10],[FALSE,0,1,5]];
PROC R2_PART1()
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Approach positions towards the weld
MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
R2_Part1_Seam1;
! Departure positions
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50,tWeldGun\WObj:=wobjStn1;
MoveJ p60\ID:=110, vmax, z50,tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
ENDPROC
PROC R2_Part1_Seam1()
! Define which procedure shall be re-executed
SetWRProcName "R2_Part1_Seam1";
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IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Set Recovery Position, here it will be "p30" from example
above
! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1\AdvData:=AdvSeamData1, wd1,
fine, tWeldGun\WObj:=wobjStn1\SeamName:="R2_Part1_Seam1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcC pArc40, pArc50\ID:=70, v100, sm1, wd1, z1,
tWeldGun\WObj:=wobjStn1;
ArcLEnd pArc60\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
Example program for STN1
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE STN1_Part_A
PROC STN1_Part1()
IF NOT IsMechUnitActive(STN1) ActUnit STN1;
IF NOT IsSyncMoveOn() SyncMoveOn sync001, Alle_STN1;
MoveExtJ p10\ID:=10,vmax,z50;
MoveExtJ p20\ID:=20,vmax,z50;
MoveExtJ p30\ID:=30,vmax,z50;
STN1_Part1_Seam1;
MoveExtJ p40\ID:=90,vmax,z50;
MoveExtJ p50\ID:=100,vmax,z50;
MoveExtJ p60\ID:=110,vmax,z50;
SyncMoveOff sync002;
ENDPROC
PROC STN1_Part1_Seam1()
! Define which procedure shall be re-executed
SetWRProcName "STN1_Part1_Seam1";
IF NOT IsMechUnitActive(STN1) ActUnit STN1;
IF NOT IsSyncMoveOn() SyncMoveOn sync001, Alle_STN1;
! Set Recovery Position, here it will be "p30" from example
above
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ENDPROC
PROC R1_Part1_Seam1()
! Define which procedure shall be re-executed
SetWRProcName "R1_Part1_Seam1";
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Set Recovery Position, here it will be "p30" from example
above
! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1\AdvData:=AdvSeamData1, wd1,
fine, tWeldGun\WObj:=wobjStn1\SeamName:="R1_Part1_Seam1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcC pArc40, pArc50\ID:=70, v100, sm1, wd1, z1,
tWeldGun\WObj:=wobjStn1;
ArcLEnd pArc50\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
Example program for robot 2
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE R1_Part_A
PERS AdvSeamData AdvSeamData1:=[[TRUE,0.5,1,2,10,10],[FALSE,0,1,5]];
PROC R2_PART1()
IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Approach positions towards the weld
MoveJ p10\ID:=10, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p20\ID:=20, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p30\ID:=30, vmax, z50, tWeldGun\WObj:=wobjStn1;
R2_Part1_Seam1;
! Departure positions
MoveJ p40\ID:=90, vmax, z50, tWeldGun\WObj:=wobjStn1;
MoveJ p50\ID:=100, vmax, z50,tWeldGun\WObj:=wobjStn1;
MoveJ p60\ID:=110, vmax, z50,tWeldGun\WObj:=wobjStn1;
SyncMoveOff sync002;
ENDPROC
PROC R2_Part1_Seam1()
! Define which procedure shall be re-executed
SetWRProcName "R2_Part1_Seam1";
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IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Set Recovery Position, here it will be "p30" from example
above
! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1\AdvData:=AdvSeamData1, wd1,
fine, tWeldGun\WObj:=wobjStn1\SeamName:="R2_Part1_Seam1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcC pArc40, pArc50\ID:=70, v100, sm1, wd1, z1,
tWeldGun\WObj:=wobjStn1;
ArcLEnd pArc60\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
Example program for STN1
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE STN1_Part_A
PROC STN1_Part1()
IF NOT IsMechUnitActive(STN1) ActUnit STN1;
IF NOT IsSyncMoveOn() SyncMoveOn sync001, Alle_STN1;
MoveExtJ p10\ID:=10,vmax,z50;
MoveExtJ p20\ID:=20,vmax,z50;
MoveExtJ p30\ID:=30,vmax,z50;
STN1_Part1_Seam1;
MoveExtJ p40\ID:=90,vmax,z50;
MoveExtJ p50\ID:=100,vmax,z50;
MoveExtJ p60\ID:=110,vmax,z50;
SyncMoveOff sync002;
ENDPROC
PROC STN1_Part1_Seam1()
! Define which procedure shall be re-executed
SetWRProcName "STN1_Part1_Seam1";
IF NOT IsMechUnitActive(STN1) ActUnit STN1;
IF NOT IsSyncMoveOn() SyncMoveOn sync001, Alle_STN1;
! Set Recovery Position, here it will be "p30" from example
above
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! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
! Optional argument "\Start" set to the corresponding ArcLStart
instruction
ArcMoveExtJ pArc10\ID:=40,vmax,fine\Start;
ArcMoveExtJ pArc20\ID:=50,vrot50,z1;
ArcMoveExtJ pArc30\ID:=60,vrot50,z1;
ArcMoveExtJ pArc40\ID:=70,vrot50,z1;
ArcMoveExtJ pArc50\ID:=80,vrot50,fine;
! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
Example program for a service routine
PROC mvToService()
VAR bool bTaskInSync:=FALSE;
! Check if in synchronized mode
IF IsSyncMoveOn() bTaskInSync:=TRUE;
GetCurrentPosition pEnter\Tool:= tWeldGun \Wobj:=wobj0;
! Suspend synchronization, robots are now in independent mode
IF bTaskInSync SyncMoveSuspend;
IF GetProcErr() THEN
MoveJ pService, v500, fine, tWeldGun\WObj:=wobj0;
RecoveryMenuWR;
ENDIF
! Get synchronized again
IF bTaskInSync SyncMoveResume;
! Move to saved position
IF bTaskInSync THEN
MoveJ pEnter\ID:=200, v500, fine, tWeldGun \WObj:=wobj0;
ELSE
MoveJ pEnter, v500, fine, tWeldGun \WObj:=wobj0;
ENDIF
ENDPROC
Scenario 1: Ignition error at arc start instruction for any robot using advSeamData
The robots are moving to the instruction ArcLStart and the path recorder is turned
on with the instruction RecoveryPosSet . A service routine is specified with the
optional argument \ServiceRoutine that is used with the instruction
RecoveryPosSet . Assuming that an ignition error occurs, for example for robot
1 and the configured number of retires is exceeded, then the robots will move
backwards on path into their defined recovery position and the specified service
routine (in this example mvToService ) is executed from here.
The synchronization between the robots and positioner can be suspended so that
individual movements, for example for gun cleaning can be done.
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IF NOT IsSyncMoveOn() SyncMoveOn sync001, syncR1R2STN1;
! Set Recovery Position, here it will be "p30" from example
above
! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
ArcLStart pArc10\ID:=40, vmax, sm1\AdvData:=AdvSeamData1, wd1,
fine, tWeldGun\WObj:=wobjStn1\SeamName:="R2_Part1_Seam1";
ArcL pArc20\ID:=50, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcL pArc30\ID:=60, v100, sm1, wd1, z1, tWeldGun\WObj:=wobjStn1;
ArcC pArc40, pArc50\ID:=70, v100, sm1, wd1, z1,
tWeldGun\WObj:=wobjStn1;
ArcLEnd pArc60\ID:=80, v100, sm1, wd1, fine,
tWeldGun\WObj:=wobjStn1;
! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
Example program for STN1
Each weld is in a separate procedure to avoid collisions if the Weld Repair sequence
is active.
MODULE STN1_Part_A
PROC STN1_Part1()
IF NOT IsMechUnitActive(STN1) ActUnit STN1;
IF NOT IsSyncMoveOn() SyncMoveOn sync001, Alle_STN1;
MoveExtJ p10\ID:=10,vmax,z50;
MoveExtJ p20\ID:=20,vmax,z50;
MoveExtJ p30\ID:=30,vmax,z50;
STN1_Part1_Seam1;
MoveExtJ p40\ID:=90,vmax,z50;
MoveExtJ p50\ID:=100,vmax,z50;
MoveExtJ p60\ID:=110,vmax,z50;
SyncMoveOff sync002;
ENDPROC
PROC STN1_Part1_Seam1()
! Define which procedure shall be re-executed
SetWRProcName "STN1_Part1_Seam1";
IF NOT IsMechUnitActive(STN1) ActUnit STN1;
IF NOT IsSyncMoveOn() SyncMoveOn sync001, Alle_STN1;
! Set Recovery Position, here it will be "p30" from example
above
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6.5 Semi Automatic Mode
Continued
! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
! Optional argument "\Start" set to the corresponding ArcLStart
instruction
ArcMoveExtJ pArc10\ID:=40,vmax,fine\Start;
ArcMoveExtJ pArc20\ID:=50,vrot50,z1;
ArcMoveExtJ pArc30\ID:=60,vrot50,z1;
ArcMoveExtJ pArc40\ID:=70,vrot50,z1;
ArcMoveExtJ pArc50\ID:=80,vrot50,fine;
! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
Example program for a service routine
PROC mvToService()
VAR bool bTaskInSync:=FALSE;
! Check if in synchronized mode
IF IsSyncMoveOn() bTaskInSync:=TRUE;
GetCurrentPosition pEnter\Tool:= tWeldGun \Wobj:=wobj0;
! Suspend synchronization, robots are now in independent mode
IF bTaskInSync SyncMoveSuspend;
IF GetProcErr() THEN
MoveJ pService, v500, fine, tWeldGun\WObj:=wobj0;
RecoveryMenuWR;
ENDIF
! Get synchronized again
IF bTaskInSync SyncMoveResume;
! Move to saved position
IF bTaskInSync THEN
MoveJ pEnter\ID:=200, v500, fine, tWeldGun \WObj:=wobj0;
ELSE
MoveJ pEnter, v500, fine, tWeldGun \WObj:=wobj0;
ENDIF
ENDPROC
Scenario 1: Ignition error at arc start instruction for any robot using advSeamData
The robots are moving to the instruction ArcLStart and the path recorder is turned
on with the instruction RecoveryPosSet . A service routine is specified with the
optional argument \ServiceRoutine that is used with the instruction
RecoveryPosSet . Assuming that an ignition error occurs, for example for robot
1 and the configured number of retires is exceeded, then the robots will move
backwards on path into their defined recovery position and the specified service
routine (in this example mvToService ) is executed from here.
The synchronization between the robots and positioner can be suspended so that
individual movements, for example for gun cleaning can be done.
Continues on next page
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6 Weld Repair
6.5 Semi Automatic Mode
Continued
The function GetProcError() can be used to check which robot had a process
error so that only the failing robot will move into the service position.
A recovery menu can be used so that an operator or a PLC can decide how to
continue.
![Image]
en1300000300
If no recovery menu is used in the service position the default restart behavior at
the error position will be to resume.
For more information about the instructions see RecoveryPosSet - Set the recovery
position on page164 , RecoveryPosReset - Reset the recovery position on page167 ,
and RecoveryMenu - Display the recovery menu on page 160 .
Since the regular ignition failed (one strike and two re-strikes) scrape start will now
be active when the robots start from the service position. At ArcLStart they try
to get a stable arc with the defined scrape parameters in advSeamData . If it fails
again, then the robots will move back to the service position. They loop until the
arc gets stable. Scrape start is now always active until the arc is stable. The system
behaves in the same way if wire retract is active. (Wire will be retracted the specified
time in the instruction ArcLStart .)
Scenario 2: Weld error along the path for any robot using advSeamData
The robots are moving to the instruction ArcLStart and the path recorder is turned
on with the instruction RecoveryPosSet . A service routine is specified with the
optional argument \ServiceRoutine that is used with the instruction
RecoveryPosSet . If a weld error is detected (for example the ArcEst signal goes
low for robot 1) the robot will continue its movement to the end of the weld and is
not forced to stop by RobotWare Arc . The other robot(s) are also continuing their
welds. The weld error is detected internally and a fully automatic weld repair is
done after the robots reached the instruction ArcLEnd .
A recovery menu is displayed and the operator or a PLC can select how to continue.
If for example Resume is selected, then the robots move to the error position and
Continues on next page
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6.5 Semi Automatic Mode
Continued
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! Turn on PathRecorder
RecoveryPosSet\ServRoutine:="mvToService";
! Optional argument "\Start" set to the corresponding ArcLStart
instruction
ArcMoveExtJ pArc10\ID:=40,vmax,fine\Start;
ArcMoveExtJ pArc20\ID:=50,vrot50,z1;
ArcMoveExtJ pArc30\ID:=60,vrot50,z1;
ArcMoveExtJ pArc40\ID:=70,vrot50,z1;
ArcMoveExtJ pArc50\ID:=80,vrot50,fine;
! Turn off PathRecorder
RecoveryPosReset;
ENDPROC
ENDMODULE
Example program for a service routine
PROC mvToService()
VAR bool bTaskInSync:=FALSE;
! Check if in synchronized mode
IF IsSyncMoveOn() bTaskInSync:=TRUE;
GetCurrentPosition pEnter\Tool:= tWeldGun \Wobj:=wobj0;
! Suspend synchronization, robots are now in independent mode
IF bTaskInSync SyncMoveSuspend;
IF GetProcErr() THEN
MoveJ pService, v500, fine, tWeldGun\WObj:=wobj0;
RecoveryMenuWR;
ENDIF
! Get synchronized again
IF bTaskInSync SyncMoveResume;
! Move to saved position
IF bTaskInSync THEN
MoveJ pEnter\ID:=200, v500, fine, tWeldGun \WObj:=wobj0;
ELSE
MoveJ pEnter, v500, fine, tWeldGun \WObj:=wobj0;
ENDIF
ENDPROC
Scenario 1: Ignition error at arc start instruction for any robot using advSeamData
The robots are moving to the instruction ArcLStart and the path recorder is turned
on with the instruction RecoveryPosSet . A service routine is specified with the
optional argument \ServiceRoutine that is used with the instruction
RecoveryPosSet . Assuming that an ignition error occurs, for example for robot
1 and the configured number of retires is exceeded, then the robots will move
backwards on path into their defined recovery position and the specified service
routine (in this example mvToService ) is executed from here.
The synchronization between the robots and positioner can be suspended so that
individual movements, for example for gun cleaning can be done.
Continues on next page
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6 Weld Repair
6.5 Semi Automatic Mode
Continued
The function GetProcError() can be used to check which robot had a process
error so that only the failing robot will move into the service position.
A recovery menu can be used so that an operator or a PLC can decide how to
continue.
![Image]
en1300000300
If no recovery menu is used in the service position the default restart behavior at
the error position will be to resume.
For more information about the instructions see RecoveryPosSet - Set the recovery
position on page164 , RecoveryPosReset - Reset the recovery position on page167 ,
and RecoveryMenu - Display the recovery menu on page 160 .
Since the regular ignition failed (one strike and two re-strikes) scrape start will now
be active when the robots start from the service position. At ArcLStart they try
to get a stable arc with the defined scrape parameters in advSeamData . If it fails
again, then the robots will move back to the service position. They loop until the
arc gets stable. Scrape start is now always active until the arc is stable. The system
behaves in the same way if wire retract is active. (Wire will be retracted the specified
time in the instruction ArcLStart .)
Scenario 2: Weld error along the path for any robot using advSeamData
The robots are moving to the instruction ArcLStart and the path recorder is turned
on with the instruction RecoveryPosSet . A service routine is specified with the
optional argument \ServiceRoutine that is used with the instruction
RecoveryPosSet . If a weld error is detected (for example the ArcEst signal goes
low for robot 1) the robot will continue its movement to the end of the weld and is
not forced to stop by RobotWare Arc . The other robot(s) are also continuing their
welds. The weld error is detected internally and a fully automatic weld repair is
done after the robots reached the instruction ArcLEnd .
A recovery menu is displayed and the operator or a PLC can select how to continue.
If for example Resume is selected, then the robots move to the error position and
Continues on next page
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6 Weld Repair
6.5 Semi Automatic Mode
Continued
here only the failing robot re-strikes the arc. The other robots are moving in blocked
mode. If there was a weld error for more than one robot then the procedure is
re-executed again until all weld errors are fixed for each robot. If another weld error
or ignition error occurs during the weld repair phase that cannot be handled within
the configured number of retries, then the robots will try to strike the arc again with
the different behavior as configured in advSeamData (wire retract and scrape
start). If this additional strikes failing as well then the robots are move backwards
on path into their service position.
If the configured number of allowed weld errors exceeded then the robots will stop
at the error position and the following menu is presented automatically.
![Image]
en1300000302
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The function GetProcError() can be used to check which robot had a process
error so that only the failing robot will move into the service position.
A recovery menu can be used so that an operator or a PLC can decide how to
continue.
![Image]
en1300000300
If no recovery menu is used in the service position the default restart behavior at
the error position will be to resume.
For more information about the instructions see RecoveryPosSet - Set the recovery
position on page164 , RecoveryPosReset - Reset the recovery position on page167 ,
and RecoveryMenu - Display the recovery menu on page 160 .
Since the regular ignition failed (one strike and two re-strikes) scrape start will now
be active when the robots start from the service position. At ArcLStart they try
to get a stable arc with the defined scrape parameters in advSeamData . If it fails
again, then the robots will move back to the service position. They loop until the
arc gets stable. Scrape start is now always active until the arc is stable. The system
behaves in the same way if wire retract is active. (Wire will be retracted the specified
time in the instruction ArcLStart .)
Scenario 2: Weld error along the path for any robot using advSeamData
The robots are moving to the instruction ArcLStart and the path recorder is turned
on with the instruction RecoveryPosSet . A service routine is specified with the
optional argument \ServiceRoutine that is used with the instruction
RecoveryPosSet . If a weld error is detected (for example the ArcEst signal goes
low for robot 1) the robot will continue its movement to the end of the weld and is
not forced to stop by RobotWare Arc . The other robot(s) are also continuing their
welds. The weld error is detected internally and a fully automatic weld repair is
done after the robots reached the instruction ArcLEnd .
A recovery menu is displayed and the operator or a PLC can select how to continue.
If for example Resume is selected, then the robots move to the error position and
Continues on next page
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6 Weld Repair
6.5 Semi Automatic Mode
Continued
here only the failing robot re-strikes the arc. The other robots are moving in blocked
mode. If there was a weld error for more than one robot then the procedure is
re-executed again until all weld errors are fixed for each robot. If another weld error
or ignition error occurs during the weld repair phase that cannot be handled within
the configured number of retries, then the robots will try to strike the arc again with
the different behavior as configured in advSeamData (wire retract and scrape
start). If this additional strikes failing as well then the robots are move backwards
on path into their service position.
If the configured number of allowed weld errors exceeded then the robots will stop
at the error position and the following menu is presented automatically.
![Image]
en1300000302
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6 Weld Repair
6.5 Semi Automatic Mode
Continued
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here only the failing robot re-strikes the arc. The other robots are moving in blocked
mode. If there was a weld error for more than one robot then the procedure is
re-executed again until all weld errors are fixed for each robot. If another weld error
or ignition error occurs during the weld repair phase that cannot be handled within
the configured number of retries, then the robots will try to strike the arc again with
the different behavior as configured in advSeamData (wire retract and scrape
start). If this additional strikes failing as well then the robots are move backwards
on path into their service position.
If the configured number of allowed weld errors exceeded then the robots will stop
at the error position and the following menu is presented automatically.
![Image]
en1300000302
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6 Weld Repair
6.5 Semi Automatic Mode
Continued
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7 RAPID reference
7.1 Instructions
7.1.1 ArcC, ArcC1, ArcC2 - Arc welding with circular motion
Usage
ArcC is used to weld along a circular path. The instruction controls and monitors
the entire welding process as follows:
•
The tool center point (TCP) is moved in a circle to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The only difference between ArcC , ArcC1 and ArcC2 is that they are connected
to different Arc Weld systems configured in the system parameters. Although ArcC
is used in the examples, ArcC1 or ArcC2 could equally well be used.
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
Example
MoveJ ...
ArcLStart p1, v100, seam1, weld5, fine, gun1;
ArcC p2, p3, v100, seam1, weld5, fine, gun1;
ArcCEnd p4, p5, v100, seam1, weld5, fine, gun1;
MoveJ ...
This welds a circular seam between points p1 and p3 (via point p2), and a circular
seam between points p3 and p5 (via point p4), as illustrated in the following figure.
xxxxx
x
x
x
x
x x
MoveJ
ArcCEnd
MoveJ
p1
p2
p3
Movement without welding
Welding and weld end
Direction of welding
p4
ArcCStart
Start conditions
xx1500001031
On the way to p1 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p1
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7.1.1 ArcC, ArcC1, ArcC2 - Arc welding with circular motion
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7 RAPID reference
7.1 Instructions
7.1.1 ArcC, ArcC1, ArcC2 - Arc welding with circular motion
Usage
ArcC is used to weld along a circular path. The instruction controls and monitors
the entire welding process as follows:
•
The tool center point (TCP) is moved in a circle to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The only difference between ArcC , ArcC1 and ArcC2 is that they are connected
to different Arc Weld systems configured in the system parameters. Although ArcC
is used in the examples, ArcC1 or ArcC2 could equally well be used.
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
Example
MoveJ ...
ArcLStart p1, v100, seam1, weld5, fine, gun1;
ArcC p2, p3, v100, seam1, weld5, fine, gun1;
ArcCEnd p4, p5, v100, seam1, weld5, fine, gun1;
MoveJ ...
This welds a circular seam between points p1 and p3 (via point p2), and a circular
seam between points p3 and p5 (via point p4), as illustrated in the following figure.
xxxxx
x
x
x
x
x x
MoveJ
ArcCEnd
MoveJ
p1
p2
p3
Movement without welding
Welding and weld end
Direction of welding
p4
ArcCStart
Start conditions
xx1500001031
On the way to p1 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p1
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7 RAPID reference
7.1.1 ArcC, ArcC1, ArcC2 - Arc welding with circular motion
and end at p5 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Arguments
ArcC CirPoint ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool
[\WObj] [\Corr] [\Track] [\TrackOffsetFrame] [\Time] [\T1]
[\T2] [\T3] [\T4] [\T5] [\T6] [\T7] [\TLoad]
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between
the start point and the destination point. To obtain the best accuracy it should be
placed about halfway between the start and destination points. If it is placed too
close to the start or destination point, the robot may give a warning. The circle
point is defined as a named position or stored directly in the instruction (marked
with an * in the instruction). The position of the external axes are not used.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcLStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
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7.1.1 ArcC, ArcC1, ArcC2 - Arc welding with circular motion
Continued
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7 RAPID reference
7.1 Instructions
7.1.1 ArcC, ArcC1, ArcC2 - Arc welding with circular motion
Usage
ArcC is used to weld along a circular path. The instruction controls and monitors
the entire welding process as follows:
•
The tool center point (TCP) is moved in a circle to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The only difference between ArcC , ArcC1 and ArcC2 is that they are connected
to different Arc Weld systems configured in the system parameters. Although ArcC
is used in the examples, ArcC1 or ArcC2 could equally well be used.
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
Example
MoveJ ...
ArcLStart p1, v100, seam1, weld5, fine, gun1;
ArcC p2, p3, v100, seam1, weld5, fine, gun1;
ArcCEnd p4, p5, v100, seam1, weld5, fine, gun1;
MoveJ ...
This welds a circular seam between points p1 and p3 (via point p2), and a circular
seam between points p3 and p5 (via point p4), as illustrated in the following figure.
xxxxx
x
x
x
x
x x
MoveJ
ArcCEnd
MoveJ
p1
p2
p3
Movement without welding
Welding and weld end
Direction of welding
p4
ArcCStart
Start conditions
xx1500001031
On the way to p1 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p1
Continues on next page
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7 RAPID reference
7.1.1 ArcC, ArcC1, ArcC2 - Arc welding with circular motion
and end at p5 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Arguments
ArcC CirPoint ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool
[\WObj] [\Corr] [\Track] [\TrackOffsetFrame] [\Time] [\T1]
[\T2] [\T3] [\T4] [\T5] [\T6] [\T7] [\TLoad]
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between
the start point and the destination point. To obtain the best accuracy it should be
placed about halfway between the start and destination points. If it is placed too
close to the start or destination point, the robot may give a warning. The circle
point is defined as a named position or stored directly in the instruction (marked
with an * in the instruction). The position of the external axes are not used.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcLStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
Continues on next page
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7.1.1 ArcC, ArcC1, ArcC2 - Arc welding with circular motion
Continued
The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
p1
p2
p3
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000710
Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Seam
Data type: seamdata
Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position. In the case of a fly-by point, a
corner path is generated past that position. In the case of a stop point (fine), the
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7 RAPID reference
7.1.1 ArcC, ArcC1, ArcC2 - Arc welding with circular motion
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and end at p5 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Arguments
ArcC CirPoint ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool
[\WObj] [\Corr] [\Track] [\TrackOffsetFrame] [\Time] [\T1]
[\T2] [\T3] [\T4] [\T5] [\T6] [\T7] [\TLoad]
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between
the start point and the destination point. To obtain the best accuracy it should be
placed about halfway between the start and destination points. If it is placed too
close to the start or destination point, the robot may give a warning. The circle
point is defined as a named position or stored directly in the instruction (marked
with an * in the instruction). The position of the external axes are not used.
ToPoint
Data type: robtarget
The destination point of the robot and external axes. It is defined as a named
position or stored directly in the instruction (marked with an * in the instruction).
[ \ID ]
Synchronization id
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcLStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
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Continued
The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
p1
p2
p3
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000710
Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Seam
Data type: seamdata
Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position. In the case of a fly-by point, a
corner path is generated past that position. In the case of a stop point (fine), the
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Continued
movement is interrupted until all axes have reached the programmed point. A stop
point is always generated automatically at the start position of a weld and at a
controlled weld end position. Fly-by points, such as z10, should be used for all
other weld positions. Weld data changes over to the next arc welding instruction
at the center point of the corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is
moved to the specified destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (object coordinate system) to which the robot position in the
instruction is related.
This argument can be omitted and if it is then the position is related to the world
coordinate system. If, on the other hand, a stationary TCP or coordinated external
axes are used this argument must be specified in order for a circle relative to the
work object to be executed.
[ \Corr ]
Correction
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[\Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcC instruction, but
deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires one of the following options: or options.
•
Tracking Interface
•
WeldGuide
•
Optical tracking
[\TrackOffsetFrame]
Data type: captrackoffsframe
This optional argument is used to select the frame in which the optical tracking
offset (seamoffs_y and seamoffs_z) is applied.
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The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
p1
p2
p3
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000710
Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Seam
Data type: seamdata
Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position. In the case of a fly-by point, a
corner path is generated past that position. In the case of a stop point (fine), the
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Continued
movement is interrupted until all axes have reached the programmed point. A stop
point is always generated automatically at the start position of a weld and at a
controlled weld end position. Fly-by points, such as z10, should be used for all
other weld positions. Weld data changes over to the next arc welding instruction
at the center point of the corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is
moved to the specified destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (object coordinate system) to which the robot position in the
instruction is related.
This argument can be omitted and if it is then the position is related to the world
coordinate system. If, on the other hand, a stationary TCP or coordinated external
axes are used this argument must be specified in order for a circle relative to the
work object to be executed.
[ \Corr ]
Correction
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[\Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcC instruction, but
deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires one of the following options: or options.
•
Tracking Interface
•
WeldGuide
•
Optical tracking
[\TrackOffsetFrame]
Data type: captrackoffsframe
This optional argument is used to select the frame in which the optical tracking
offset (seamoffs_y and seamoffs_z) is applied.
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Continued
The following predefined values are available:
Description
Value
The sensor measurement coordinate system.
This is the default value, if this optional argu-
ment is not present.
CAP_OFFSET_FRAME_SENSOR
The path coordinate system.
CAP_OFFSET_FRAME_PATH
![Image]
xx2400000789
[\Time]
Data type: num
This argument is used to specify the total time in seconds during which the robot
and additional axes move. It is then substituted for the corresponding speed data.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO, TriggIO, TriggEquip or
TriggInt .
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movement is interrupted until all axes have reached the programmed point. A stop
point is always generated automatically at the start position of a weld and at a
controlled weld end position. Fly-by points, such as z10, should be used for all
other weld positions. Weld data changes over to the next arc welding instruction
at the center point of the corner path.
Tool
Data type: tooldata
The tool in use when the robot moves. The tool center point is the point that is
moved to the specified destination point.
[ \WObj ]
Work Object
Data type: wobjdata
The work object (object coordinate system) to which the robot position in the
instruction is related.
This argument can be omitted and if it is then the position is related to the world
coordinate system. If, on the other hand, a stationary TCP or coordinated external
axes are used this argument must be specified in order for a circle relative to the
work object to be executed.
[ \Corr ]
Correction
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[\Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcC instruction, but
deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires one of the following options: or options.
•
Tracking Interface
•
WeldGuide
•
Optical tracking
[\TrackOffsetFrame]
Data type: captrackoffsframe
This optional argument is used to select the frame in which the optical tracking
offset (seamoffs_y and seamoffs_z) is applied.
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Continued
The following predefined values are available:
Description
Value
The sensor measurement coordinate system.
This is the default value, if this optional argu-
ment is not present.
CAP_OFFSET_FRAME_SENSOR
The path coordinate system.
CAP_OFFSET_FRAME_PATH
![Image]
xx2400000789
[\Time]
Data type: num
This argument is used to specify the total time in seconds during which the robot
and additional axes move. It is then substituted for the corresponding speed data.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO, TriggIO, TriggEquip or
TriggInt .
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Continued
[\TLoad]
Data type: loaddata
The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved circularly at a constant programmed speed.
When coordinated axes are used, the robot and the coordinated axes are
moved simultaneously, resulting in the programmed path and speed for the
TCP relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
The instruction ArcC should never be restarted after the circle point has been
passed. Otherwise the robot will not take the programmed path (positioning around
the circular path in another direction compared with that programmed).
Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
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The following predefined values are available:
Description
Value
The sensor measurement coordinate system.
This is the default value, if this optional argu-
ment is not present.
CAP_OFFSET_FRAME_SENSOR
The path coordinate system.
CAP_OFFSET_FRAME_PATH
![Image]
xx2400000789
[\Time]
Data type: num
This argument is used to specify the total time in seconds during which the robot
and additional axes move. It is then substituted for the corresponding speed data.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO, TriggIO, TriggEquip or
TriggInt .
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Continued
[\TLoad]
Data type: loaddata
The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved circularly at a constant programmed speed.
When coordinated axes are used, the robot and the coordinated axes are
moved simultaneously, resulting in the programmed path and speed for the
TCP relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
The instruction ArcC should never be restarted after the circle point has been
passed. Otherwise the robot will not take the programmed path (positioning around
the circular path in another direction compared with that programmed).
Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
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Continued
Description
Error constant (ERRNO value)
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
Welding interrupted using the stop process input
AW_STOP_ERR
The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 202 ):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc_OK, within a predetermined time period, the process start will be
interrupted. When the process is started, all supervision inputs selected - such as
stop process, water supervision, gas supervision, arc supervision, volt supervision,
current supervision, wire supervision - are monitored continuously.
The wirestick status is checked at the start and end of the weld. Wirestick errors
are non-recoverable. That is, the welding process and motion can not be resumed
until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a MultiMove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *,v100, seam1, weld5 \Weave:=weave1,
fine,gun1\Wobj:=wobj1;
ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcCEnd *, *, v100, seam1,weld3\Weave:=weave3,
fine,gun1\Wobj:=wobj1;
MoveL ...
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[\TLoad]
Data type: loaddata
The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved circularly at a constant programmed speed.
When coordinated axes are used, the robot and the coordinated axes are
moved simultaneously, resulting in the programmed path and speed for the
TCP relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
The instruction ArcC should never be restarted after the circle point has been
passed. Otherwise the robot will not take the programmed path (positioning around
the circular path in another direction compared with that programmed).
Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
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Continued
Description
Error constant (ERRNO value)
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
Welding interrupted using the stop process input
AW_STOP_ERR
The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 202 ):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc_OK, within a predetermined time period, the process start will be
interrupted. When the process is started, all supervision inputs selected - such as
stop process, water supervision, gas supervision, arc supervision, volt supervision,
current supervision, wire supervision - are monitored continuously.
The wirestick status is checked at the start and end of the weld. Wirestick errors
are non-recoverable. That is, the welding process and motion can not be resumed
until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a MultiMove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *,v100, seam1, weld5 \Weave:=weave1,
fine,gun1\Wobj:=wobj1;
ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcCEnd *, *, v100, seam1,weld3\Weave:=weave3,
fine,gun1\Wobj:=wobj1;
MoveL ...
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Continued
In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure.
x xxx x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
weld5, weave1
weld3, weave3
ArcC
Movement without welding
Movement with welding
Start preparations
Direction of welding
ArcC
xx1200000712
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
Limitations
ArcC , ArcC1 , ArcC2 cannot be executed in an UNDO handler or RAPID routine
connected to any of the following special system events: PowerOn, Stop, QStop,
Restart, Reset or Step.
Syntax
ArcC
[CirPoint ':='] <expression ( IN ) of robtarget>
[ToPoint ':='] <expression ( IN ) of robtarget>
[Speed ':='] <expression ( IN ) of speeddata>
[Seam ':='] <persistent ( PERS ) of seamdata>
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':='] <persistent ( PERS ) of weavedata>','
[Zone ':='] <expression ( IN ) of zonedata>
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\' Corr ',']
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
['\' TrackOffsetFrame ':=' < expression ( IN ) of captrackoffsframe
> ]
['\' Time ':=' <expression ( IN ) of num>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
Continues on next page
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7.1.1 ArcC, ArcC1, ArcC2 - Arc welding with circular motion
Continued
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Description
Error constant (ERRNO value)
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
Welding interrupted using the stop process input
AW_STOP_ERR
The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 202 ):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc_OK, within a predetermined time period, the process start will be
interrupted. When the process is started, all supervision inputs selected - such as
stop process, water supervision, gas supervision, arc supervision, volt supervision,
current supervision, wire supervision - are monitored continuously.
The wirestick status is checked at the start and end of the weld. Wirestick errors
are non-recoverable. That is, the welding process and motion can not be resumed
until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a MultiMove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *,v100, seam1, weld5 \Weave:=weave1,
fine,gun1\Wobj:=wobj1;
ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcCEnd *, *, v100, seam1,weld3\Weave:=weave3,
fine,gun1\Wobj:=wobj1;
MoveL ...
Continues on next page
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7.1.1 ArcC, ArcC1, ArcC2 - Arc welding with circular motion
Continued
In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure.
x xxx x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
weld5, weave1
weld3, weave3
ArcC
Movement without welding
Movement with welding
Start preparations
Direction of welding
ArcC
xx1200000712
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
Limitations
ArcC , ArcC1 , ArcC2 cannot be executed in an UNDO handler or RAPID routine
connected to any of the following special system events: PowerOn, Stop, QStop,
Restart, Reset or Step.
Syntax
ArcC
[CirPoint ':='] <expression ( IN ) of robtarget>
[ToPoint ':='] <expression ( IN ) of robtarget>
[Speed ':='] <expression ( IN ) of speeddata>
[Seam ':='] <persistent ( PERS ) of seamdata>
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':='] <persistent ( PERS ) of weavedata>','
[Zone ':='] <expression ( IN ) of zonedata>
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\' Corr ',']
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
['\' TrackOffsetFrame ':=' < expression ( IN ) of captrackoffsframe
> ]
['\' Time ':=' <expression ( IN ) of num>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
Continues on next page
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7.1.1 ArcC, ArcC1, ArcC2 - Arc welding with circular motion
Continued
['\' TLoad':='] <persistent ( PERS ) of loaddata>]';'
Related information
Described in
Information
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
Application manual - Arc and Arc Sensor
109
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7 RAPID reference
7.1.1 ArcC, ArcC1, ArcC2 - Arc welding with circular motion
Continued
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In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure.
x xxx x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
weld5, weave1
weld3, weave3
ArcC
Movement without welding
Movement with welding
Start preparations
Direction of welding
ArcC
xx1200000712
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
Limitations
ArcC , ArcC1 , ArcC2 cannot be executed in an UNDO handler or RAPID routine
connected to any of the following special system events: PowerOn, Stop, QStop,
Restart, Reset or Step.
Syntax
ArcC
[CirPoint ':='] <expression ( IN ) of robtarget>
[ToPoint ':='] <expression ( IN ) of robtarget>
[Speed ':='] <expression ( IN ) of speeddata>
[Seam ':='] <persistent ( PERS ) of seamdata>
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':='] <persistent ( PERS ) of weavedata>','
[Zone ':='] <expression ( IN ) of zonedata>
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\' Corr ',']
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
['\' TrackOffsetFrame ':=' < expression ( IN ) of captrackoffsframe
> ]
['\' Time ':=' <expression ( IN ) of num>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
Continues on next page
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7.1.1 ArcC, ArcC1, ArcC2 - Arc welding with circular motion
Continued
['\' TLoad':='] <persistent ( PERS ) of loaddata>]';'
Related information
Described in
Information
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
Application manual - Arc and Arc Sensor
109
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7 RAPID reference
7.1.1 ArcC, ArcC1, ArcC2 - Arc welding with circular motion
Continued
7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
Usage
ArcCEnd is used to weld along a circular path. The instruction controls and monitors
the entire welding process as follows:
•
The tool center point (TCP) is moved in a circle to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The only difference between ArcCEnd , ArcC1End and ArcC2End is that they are
connected to different Arc Weld systems configured in the system parameters.
Although ArcCEnd is used in the examples, ArcC1End or ArcC2End could equally
well be used.
When the instruction ArcCEnd is used, welding ends when the robot reaches the
destination position. Regardless of what is specified in the Zone argument, the
destination position will be a stop point (fine).
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
Example
MoveL ...
ArcLStart p1, v100, seam1, weld5, fine, gun1;
ArcCEnd p2, p3, v100, seam1, weld5, fine, gun1;
MoveL ...
Continues on next page
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7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
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['\' TLoad':='] <persistent ( PERS ) of loaddata>]';'
Related information
Described in
Information
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
Application manual - Arc and Arc Sensor
109
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7 RAPID reference
7.1.1 ArcC, ArcC1, ArcC2 - Arc welding with circular motion
Continued
7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
Usage
ArcCEnd is used to weld along a circular path. The instruction controls and monitors
the entire welding process as follows:
•
The tool center point (TCP) is moved in a circle to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The only difference between ArcCEnd , ArcC1End and ArcC2End is that they are
connected to different Arc Weld systems configured in the system parameters.
Although ArcCEnd is used in the examples, ArcC1End or ArcC2End could equally
well be used.
When the instruction ArcCEnd is used, welding ends when the robot reaches the
destination position. Regardless of what is specified in the Zone argument, the
destination position will be a stop point (fine).
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
Example
MoveL ...
ArcLStart p1, v100, seam1, weld5, fine, gun1;
ArcCEnd p2, p3, v100, seam1, weld5, fine, gun1;
MoveL ...
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7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
This welds a circular seam between points p1 and p3 (via point p2) as illustrated
in the following figure.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
p1
p2
p3
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000710
On the way to p1 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p1
and end at p3 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Arguments
ArcCEnd CirPoint ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool
[\WObj] [\Corr] [\Track] [\TrackOffsetFrame] [\Time] [\T1]
[\T2] [\T3] [\T4] [\T5] [\T6] [\T7] [\TLoad]
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between
the start point and the destination point. To obtain the best accuracy, it should be
placed about halfway between the start and destination points. If it is placed too
close to the start or destination point, the robot may give a warning. The circle
point is defined as a named position or stored directly in the instruction (marked
with an * in the instruction).
ToPoint
Data type: robtarget
The destination position of the robot and additional axes. This is either defined as
a named position or stored directly in the instruction (indicated by an * in the
instruction).
[\ID]
Data type: identno
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7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
Continued
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7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
Usage
ArcCEnd is used to weld along a circular path. The instruction controls and monitors
the entire welding process as follows:
•
The tool center point (TCP) is moved in a circle to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The only difference between ArcCEnd , ArcC1End and ArcC2End is that they are
connected to different Arc Weld systems configured in the system parameters.
Although ArcCEnd is used in the examples, ArcC1End or ArcC2End could equally
well be used.
When the instruction ArcCEnd is used, welding ends when the robot reaches the
destination position. Regardless of what is specified in the Zone argument, the
destination position will be a stop point (fine).
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
Example
MoveL ...
ArcLStart p1, v100, seam1, weld5, fine, gun1;
ArcCEnd p2, p3, v100, seam1, weld5, fine, gun1;
MoveL ...
Continues on next page
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7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
This welds a circular seam between points p1 and p3 (via point p2) as illustrated
in the following figure.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
p1
p2
p3
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000710
On the way to p1 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p1
and end at p3 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Arguments
ArcCEnd CirPoint ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool
[\WObj] [\Corr] [\Track] [\TrackOffsetFrame] [\Time] [\T1]
[\T2] [\T3] [\T4] [\T5] [\T6] [\T7] [\TLoad]
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between
the start point and the destination point. To obtain the best accuracy, it should be
placed about halfway between the start and destination points. If it is placed too
close to the start or destination point, the robot may give a warning. The circle
point is defined as a named position or stored directly in the instruction (marked
with an * in the instruction).
ToPoint
Data type: robtarget
The destination position of the robot and additional axes. This is either defined as
a named position or stored directly in the instruction (indicated by an * in the
instruction).
[\ID]
Data type: identno
Continues on next page
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7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
Continued
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcCStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
p1
p2
p3
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000710
Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Seam
Data type: seamdata
Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
Continues on next page
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7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
Continued
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This welds a circular seam between points p1 and p3 (via point p2) as illustrated
in the following figure.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
p1
p2
p3
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000710
On the way to p1 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p1
and end at p3 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Arguments
ArcCEnd CirPoint ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool
[\WObj] [\Corr] [\Track] [\TrackOffsetFrame] [\Time] [\T1]
[\T2] [\T3] [\T4] [\T5] [\T6] [\T7] [\TLoad]
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between
the start point and the destination point. To obtain the best accuracy, it should be
placed about halfway between the start and destination points. If it is placed too
close to the start or destination point, the robot may give a warning. The circle
point is defined as a named position or stored directly in the instruction (marked
with an * in the instruction).
ToPoint
Data type: robtarget
The destination position of the robot and additional axes. This is either defined as
a named position or stored directly in the instruction (indicated by an * in the
instruction).
[\ID]
Data type: identno
Continues on next page
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7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
Continued
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcCStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
p1
p2
p3
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000710
Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Seam
Data type: seamdata
Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
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[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position.
In the case of a fly-by point, a corner path is generated past that position. In the
case of a stop point (fine), the movement is interrupted until all axes have reached
the programmed point.
A stop point (fine) is always generated automatically at the start position of a weld
and at a controlled weld end position. Fly-by points, such as z10, should be used
for all other weld positions.
Weld data changes over to the next arc welding instruction at the center point of
the corner path.
Tool
Data type: tooldata
The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.
[\WObj]
Data type: wobjdata
The work object (coordinate system) to which the instruction’s robot position is
referenced. When this argument is omitted, the robot position is referenced to the
world coordinate system. It must, however, be specified if a stationary TCP or
coordinated additional axes are used.
\WObj can be used if a coordinate system is defined for either the object in question
or the weld seam.
[\Corr]
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position, if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[\Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcC instruction, but
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The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcCStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
p1
p2
p3
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000710
Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Seam
Data type: seamdata
Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
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[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position.
In the case of a fly-by point, a corner path is generated past that position. In the
case of a stop point (fine), the movement is interrupted until all axes have reached
the programmed point.
A stop point (fine) is always generated automatically at the start position of a weld
and at a controlled weld end position. Fly-by points, such as z10, should be used
for all other weld positions.
Weld data changes over to the next arc welding instruction at the center point of
the corner path.
Tool
Data type: tooldata
The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.
[\WObj]
Data type: wobjdata
The work object (coordinate system) to which the instruction’s robot position is
referenced. When this argument is omitted, the robot position is referenced to the
world coordinate system. It must, however, be specified if a stationary TCP or
coordinated additional axes are used.
\WObj can be used if a coordinate system is defined for either the object in question
or the weld seam.
[\Corr]
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position, if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[\Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcC instruction, but
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Continued
deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires one of the following options: or options.
•
Tracking Interface
•
WeldGuide
•
Optical tracking
[\TrackOffsetFrame]
Data type: captrackoffsframe
This optional argument is used to select the frame in which the optical tracking
offset (seamoffs_y and seamoffs_z) is applied.
The following predefined values are available:
Description
Value
The sensor measurement coordinate system.
This is the default value, if this optional argu-
ment is not present.
CAP_OFFSET_FRAME_SENSOR
The path coordinate system.
CAP_OFFSET_FRAME_PATH
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[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position.
In the case of a fly-by point, a corner path is generated past that position. In the
case of a stop point (fine), the movement is interrupted until all axes have reached
the programmed point.
A stop point (fine) is always generated automatically at the start position of a weld
and at a controlled weld end position. Fly-by points, such as z10, should be used
for all other weld positions.
Weld data changes over to the next arc welding instruction at the center point of
the corner path.
Tool
Data type: tooldata
The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.
[\WObj]
Data type: wobjdata
The work object (coordinate system) to which the instruction’s robot position is
referenced. When this argument is omitted, the robot position is referenced to the
world coordinate system. It must, however, be specified if a stationary TCP or
coordinated additional axes are used.
\WObj can be used if a coordinate system is defined for either the object in question
or the weld seam.
[\Corr]
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position, if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[\Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcC instruction, but
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Continued
deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires one of the following options: or options.
•
Tracking Interface
•
WeldGuide
•
Optical tracking
[\TrackOffsetFrame]
Data type: captrackoffsframe
This optional argument is used to select the frame in which the optical tracking
offset (seamoffs_y and seamoffs_z) is applied.
The following predefined values are available:
Description
Value
The sensor measurement coordinate system.
This is the default value, if this optional argu-
ment is not present.
CAP_OFFSET_FRAME_SENSOR
The path coordinate system.
CAP_OFFSET_FRAME_PATH
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![Image]
xx2400000789
[\Time]
Data type: num
This argument is used to specify the total time in seconds during which the robot
and additional axes move. It is then substituted for the corresponding speed data.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO , TriggIO , TriggEquip or TriggInt .
[\TLoad]
Data type: loaddata
The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
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deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires one of the following options: or options.
•
Tracking Interface
•
WeldGuide
•
Optical tracking
[\TrackOffsetFrame]
Data type: captrackoffsframe
This optional argument is used to select the frame in which the optical tracking
offset (seamoffs_y and seamoffs_z) is applied.
The following predefined values are available:
Description
Value
The sensor measurement coordinate system.
This is the default value, if this optional argu-
ment is not present.
CAP_OFFSET_FRAME_SENSOR
The path coordinate system.
CAP_OFFSET_FRAME_PATH
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![Image]
xx2400000789
[\Time]
Data type: num
This argument is used to specify the total time in seconds during which the robot
and additional axes move. It is then substituted for the corresponding speed data.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO , TriggIO , TriggEquip or TriggInt .
[\TLoad]
Data type: loaddata
The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
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Continued
If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved circularly at a constant programmed speed.
When coordinated axes are used, the robot and the coordinated axes are
moved simultaneously, resulting in the programmed path and speed for the
TCP relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
The instruction ArcC should never be restarted after the circle point has been
passed. Otherwise the robot will not take the programmed path (positioning around
the circular path in another direction compared with that programmed).
Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
Welding interrupted using the stop process input
AW_STOP_ERR
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![Image]
xx2400000789
[\Time]
Data type: num
This argument is used to specify the total time in seconds during which the robot
and additional axes move. It is then substituted for the corresponding speed data.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO , TriggIO , TriggEquip or TriggInt .
[\TLoad]
Data type: loaddata
The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
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Continued
If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved circularly at a constant programmed speed.
When coordinated axes are used, the robot and the coordinated axes are
moved simultaneously, resulting in the programmed path and speed for the
TCP relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
The instruction ArcC should never be restarted after the circle point has been
passed. Otherwise the robot will not take the programmed path (positioning around
the circular path in another direction compared with that programmed).
Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
Welding interrupted using the stop process input
AW_STOP_ERR
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Continued
The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 202 ):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc_OK, within a predetermined time period, the process start will be
interrupted. When the process is started, all supervision inputs selected - such as
stop process, water supervision, gas supervision, arc supervision, volt supervision,
current supervision, wire supervision - are monitored continuously.
The wirestick status is checked at the start and end of the weld.
Wirestick errors are non-recoverable. That is, the welding process and motion can
not be resumed until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a multimove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *,v100, seam1, weld5 \Weave:=weave1,
fine,gun1\Wobj:=wobj1;
ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcCEnd *, *, v100, seam1,weld3\Weave:=weave3,
fine,gun1\Wobj:=wobj1;
MoveL ...
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If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved circularly at a constant programmed speed.
When coordinated axes are used, the robot and the coordinated axes are
moved simultaneously, resulting in the programmed path and speed for the
TCP relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
The instruction ArcC should never be restarted after the circle point has been
passed. Otherwise the robot will not take the programmed path (positioning around
the circular path in another direction compared with that programmed).
Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
Welding interrupted using the stop process input
AW_STOP_ERR
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7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
Continued
The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 202 ):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc_OK, within a predetermined time period, the process start will be
interrupted. When the process is started, all supervision inputs selected - such as
stop process, water supervision, gas supervision, arc supervision, volt supervision,
current supervision, wire supervision - are monitored continuously.
The wirestick status is checked at the start and end of the weld.
Wirestick errors are non-recoverable. That is, the welding process and motion can
not be resumed until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a multimove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *,v100, seam1, weld5 \Weave:=weave1,
fine,gun1\Wobj:=wobj1;
ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcCEnd *, *, v100, seam1,weld3\Weave:=weave3,
fine,gun1\Wobj:=wobj1;
MoveL ...
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Continued
In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure.
x xxx x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
weld5, weave1
weld3, weave3
ArcC
Movement without welding
Movement with welding
Start preparations
Direction of welding
ArcC
xx1200000712
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
Limitations
ArcCEnd , ArcC1End , ArcC2End cannot be executed in an UNDO handler or RAPID
routine connected to any of the following special system events: PowerOn, Stop,
QStop, Restart, Reset or Step.
Syntax
ArcCEnd
[CirPoint ':='] <expression ( IN ) of robtarget>
[ToPoint ':='] <expression ( IN ) of robtarget>
[Speed ':='] <expression ( IN ) of speeddata>
[Seam ':='] <persistent ( PERS ) of seamdata>
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':='] <persistent ( PERS ) of weavedata>','
[Zone ':='] <expression ( IN ) of zonedata>
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\' Corr ',']
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
['\' TrackOffsetFrame ':=' < expression ( IN ) of captrackoffsframe
> ]
['\' Time ':=' <expression ( IN ) of num>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
Continues on next page
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7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
Continued
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The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 202 ):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc_OK, within a predetermined time period, the process start will be
interrupted. When the process is started, all supervision inputs selected - such as
stop process, water supervision, gas supervision, arc supervision, volt supervision,
current supervision, wire supervision - are monitored continuously.
The wirestick status is checked at the start and end of the weld.
Wirestick errors are non-recoverable. That is, the welding process and motion can
not be resumed until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a multimove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *,v100, seam1, weld5 \Weave:=weave1,
fine,gun1\Wobj:=wobj1;
ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcCEnd *, *, v100, seam1,weld3\Weave:=weave3,
fine,gun1\Wobj:=wobj1;
MoveL ...
Continues on next page
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7 RAPID reference
7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
Continued
In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure.
x xxx x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
weld5, weave1
weld3, weave3
ArcC
Movement without welding
Movement with welding
Start preparations
Direction of welding
ArcC
xx1200000712
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
Limitations
ArcCEnd , ArcC1End , ArcC2End cannot be executed in an UNDO handler or RAPID
routine connected to any of the following special system events: PowerOn, Stop,
QStop, Restart, Reset or Step.
Syntax
ArcCEnd
[CirPoint ':='] <expression ( IN ) of robtarget>
[ToPoint ':='] <expression ( IN ) of robtarget>
[Speed ':='] <expression ( IN ) of speeddata>
[Seam ':='] <persistent ( PERS ) of seamdata>
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':='] <persistent ( PERS ) of weavedata>','
[Zone ':='] <expression ( IN ) of zonedata>
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\' Corr ',']
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
['\' TrackOffsetFrame ':=' < expression ( IN ) of captrackoffsframe
> ]
['\' Time ':=' <expression ( IN ) of num>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
Continues on next page
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7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
Continued
['\' TLoad ':='] <persistent ( PERS ) of loaddata>]';'
Related information
Described in
Information
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
Application manual - Arc and Arc Sensor
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7 RAPID reference
7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
Continued
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In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure.
x xxx x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
weld5, weave1
weld3, weave3
ArcC
Movement without welding
Movement with welding
Start preparations
Direction of welding
ArcC
xx1200000712
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
Limitations
ArcCEnd , ArcC1End , ArcC2End cannot be executed in an UNDO handler or RAPID
routine connected to any of the following special system events: PowerOn, Stop,
QStop, Restart, Reset or Step.
Syntax
ArcCEnd
[CirPoint ':='] <expression ( IN ) of robtarget>
[ToPoint ':='] <expression ( IN ) of robtarget>
[Speed ':='] <expression ( IN ) of speeddata>
[Seam ':='] <persistent ( PERS ) of seamdata>
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':='] <persistent ( PERS ) of weavedata>','
[Zone ':='] <expression ( IN ) of zonedata>
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\' Corr ',']
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
['\' TrackOffsetFrame ':=' < expression ( IN ) of captrackoffsframe
> ]
['\' Time ':=' <expression ( IN ) of num>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
Continues on next page
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7 RAPID reference
7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
Continued
['\' TLoad ':='] <persistent ( PERS ) of loaddata>]';'
Related information
Described in
Information
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
Application manual - Arc and Arc Sensor
119
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
Continued
7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Usage
ArcCStart is used to weld along a circular path. The instruction controls and
monitors the entire welding process as follows:
•
The tool center point (TCP) is moved in a circle to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The only difference between ArcCStart , ArcC1Start and ArcC2Start is that
they are connected to different Arc Weld systems configured in the system
parameters. Although ArcCStart is used in the examples, ArcC1Start or
ArcC2Start could equally well be used.
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
A weld can start either with a non moving TCP or with a moving TCP (flying start).
In both cases the weld will start to ignite as close as possible to the start point, but
in the flying start case the TCP will have moved away from the point due to speed
and ignition time before the actual weld begins.
Example
MoveJ ...
ArcCStart p1, p2, v100, seam1, weld5, fine, gun1;
ArcCEnd p3, p4, v100, seam1, weld5, fine, gun1;
MoveJ ...
This welds a circular seam between points p2 and p4 (via point p3 ) as illustrated
in the following figure.
xxxxx
x
x
x
x
x x
MoveJ
ArcCEnd
MoveJ
p1
p2
p3
Movement without welding
Welding and weld end
Direction of welding
p4
ArcCStart
Start preparations
xx1200000711
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
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['\' TLoad ':='] <persistent ( PERS ) of loaddata>]';'
Related information
Described in
Information
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
Application manual - Arc and Arc Sensor
119
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7 RAPID reference
7.1.2 ArcCEnd, ArcC1End, ArcC2End - Arc welding end with circular motion
Continued
7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Usage
ArcCStart is used to weld along a circular path. The instruction controls and
monitors the entire welding process as follows:
•
The tool center point (TCP) is moved in a circle to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The only difference between ArcCStart , ArcC1Start and ArcC2Start is that
they are connected to different Arc Weld systems configured in the system
parameters. Although ArcCStart is used in the examples, ArcC1Start or
ArcC2Start could equally well be used.
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
A weld can start either with a non moving TCP or with a moving TCP (flying start).
In both cases the weld will start to ignite as close as possible to the start point, but
in the flying start case the TCP will have moved away from the point due to speed
and ignition time before the actual weld begins.
Example
MoveJ ...
ArcCStart p1, p2, v100, seam1, weld5, fine, gun1;
ArcCEnd p3, p4, v100, seam1, weld5, fine, gun1;
MoveJ ...
This welds a circular seam between points p2 and p4 (via point p3 ) as illustrated
in the following figure.
xxxxx
x
x
x
x
x x
MoveJ
ArcCEnd
MoveJ
p1
p2
p3
Movement without welding
Welding and weld end
Direction of welding
p4
ArcCStart
Start preparations
xx1200000711
Continues on next page
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
On the way to p2 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p2
and end at p4 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Arguments
ArcCStart CirPoint ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool
[\WObj] [\Corr] [\Track] [\PreProcessTracking] [\Seamname]
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7] [\TLoad] [\FlyStart]
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between
the start point and the destination point. To obtain the best accuracy, it should be
placed about halfway between the start and destination points. If it is placed too
close to the start or destination point, the robot may give a warning. The circle
point is defined as a named position or stored directly in the instruction (marked
with an * in the instruction).
ToPoint
Data type: robtarget
The destination position of the robot and additional axes. This is either defined as
a named position or stored directly in the instruction (indicated by an * in the
instruction).
[\ID]
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcCStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
Continues on next page
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Usage
ArcCStart is used to weld along a circular path. The instruction controls and
monitors the entire welding process as follows:
•
The tool center point (TCP) is moved in a circle to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The only difference between ArcCStart , ArcC1Start and ArcC2Start is that
they are connected to different Arc Weld systems configured in the system
parameters. Although ArcCStart is used in the examples, ArcC1Start or
ArcC2Start could equally well be used.
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
A weld can start either with a non moving TCP or with a moving TCP (flying start).
In both cases the weld will start to ignite as close as possible to the start point, but
in the flying start case the TCP will have moved away from the point due to speed
and ignition time before the actual weld begins.
Example
MoveJ ...
ArcCStart p1, p2, v100, seam1, weld5, fine, gun1;
ArcCEnd p3, p4, v100, seam1, weld5, fine, gun1;
MoveJ ...
This welds a circular seam between points p2 and p4 (via point p3 ) as illustrated
in the following figure.
xxxxx
x
x
x
x
x x
MoveJ
ArcCEnd
MoveJ
p1
p2
p3
Movement without welding
Welding and weld end
Direction of welding
p4
ArcCStart
Start preparations
xx1200000711
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7 RAPID reference
7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
On the way to p2 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p2
and end at p4 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Arguments
ArcCStart CirPoint ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool
[\WObj] [\Corr] [\Track] [\PreProcessTracking] [\Seamname]
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7] [\TLoad] [\FlyStart]
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between
the start point and the destination point. To obtain the best accuracy, it should be
placed about halfway between the start and destination points. If it is placed too
close to the start or destination point, the robot may give a warning. The circle
point is defined as a named position or stored directly in the instruction (marked
with an * in the instruction).
ToPoint
Data type: robtarget
The destination position of the robot and additional axes. This is either defined as
a named position or stored directly in the instruction (indicated by an * in the
instruction).
[\ID]
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcCStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
Continues on next page
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
p1
p2
p3
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000710
Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Seam
Data type: seamdata
Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position.
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
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On the way to p2 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p2
and end at p4 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Arguments
ArcCStart CirPoint ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool
[\WObj] [\Corr] [\Track] [\PreProcessTracking] [\Seamname]
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7] [\TLoad] [\FlyStart]
CirPoint
Data type: robtarget
The circle point of the robot. The circle point is a position on the circle between
the start point and the destination point. To obtain the best accuracy, it should be
placed about halfway between the start and destination points. If it is placed too
close to the start or destination point, the robot may give a warning. The circle
point is defined as a named position or stored directly in the instruction (marked
with an * in the instruction).
ToPoint
Data type: robtarget
The destination position of the robot and additional axes. This is either defined as
a named position or stored directly in the instruction (indicated by an * in the
instruction).
[\ID]
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcCStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
Continues on next page
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
p1
p2
p3
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000710
Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Seam
Data type: seamdata
Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position.
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
In the case of a fly-by point, a corner path is generated past that position. In the
case of a stop point ( fine ), the movement is interrupted until all axes have reached
the programmed point.
A stop point ( fine ) is always generated automatically at the start position of a
weld if the parameter \flyStart is not used, and at a controlled weld end position.
Fly-by points, such as z10 , should be used for all other weld positions.
A stop point ( fine ) is always generated automatically at the start position of a
weld and at a controlled weld end position if flying start is deactivated. Fly-by
points, such as z10 , should be used for all other weld positions.
If flying start is activated, the start point must be a zone.
Weld data changes over to the next arc welding instruction at the center point of
the corner path.
Tool
Data type: tooldata
The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.
[\WObj]
Data type: wobjdata
The work object (coordinate system) to which the instruction’s robot position is
referenced. When this argument is omitted, the robot position is referenced to the
world coordinate system. It must, however, be specified if a stationary TCP or
coordinated additional axes are used.
\WObj can be used if a coordinate system is defined for either the object in question
or the weld seam.
[\Corr]
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position, if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[\Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcL instruction, but
deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires the Optical tracking or WeldGuide options.
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Continued
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The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
p1
p2
p3
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000710
Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Seam
Data type: seamdata
Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position.
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
In the case of a fly-by point, a corner path is generated past that position. In the
case of a stop point ( fine ), the movement is interrupted until all axes have reached
the programmed point.
A stop point ( fine ) is always generated automatically at the start position of a
weld if the parameter \flyStart is not used, and at a controlled weld end position.
Fly-by points, such as z10 , should be used for all other weld positions.
A stop point ( fine ) is always generated automatically at the start position of a
weld and at a controlled weld end position if flying start is deactivated. Fly-by
points, such as z10 , should be used for all other weld positions.
If flying start is activated, the start point must be a zone.
Weld data changes over to the next arc welding instruction at the center point of
the corner path.
Tool
Data type: tooldata
The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.
[\WObj]
Data type: wobjdata
The work object (coordinate system) to which the instruction’s robot position is
referenced. When this argument is omitted, the robot position is referenced to the
world coordinate system. It must, however, be specified if a stationary TCP or
coordinated additional axes are used.
\WObj can be used if a coordinate system is defined for either the object in question
or the weld seam.
[\Corr]
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position, if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[\Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcL instruction, but
deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires the Optical tracking or WeldGuide options.
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
[\PreProcessTracking]
Data type: switch
This argument is effective only if first_instruction is set to TRUE and the
\Track argument is present.
This argument activates Pre Process Tracking , which means that the robot will be
tracking only, without process, during that CapX instruction. Thereby sensor data
are available for successful tracking right off the start of the path with process, e.g.
welding.
For more information see Operating manual - Tracking and searching with optical
sensors .
[\SeamName]
Data type: string
The seam name is a string which will be added to error logs if an error occurs
during the welding sequence. \SeamName is only applicable together with the
ArcCStart instruction.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO , TriggIO , TriggEquip or TriggInt .
[\TLoad]
Data type: loaddata
The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
[\FlyStart]
Data type: flystartdata
If the weld shall start with a moving TCP it has to be activated via the parameter
active within the flystartdata . The supervision for the ignition is different than
for a standing still start. If no ignition has occurred within superv_distance from
the starting zone a supervision error will occur.
When using flying start the start point must be a zone.
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
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Continued
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In the case of a fly-by point, a corner path is generated past that position. In the
case of a stop point ( fine ), the movement is interrupted until all axes have reached
the programmed point.
A stop point ( fine ) is always generated automatically at the start position of a
weld if the parameter \flyStart is not used, and at a controlled weld end position.
Fly-by points, such as z10 , should be used for all other weld positions.
A stop point ( fine ) is always generated automatically at the start position of a
weld and at a controlled weld end position if flying start is deactivated. Fly-by
points, such as z10 , should be used for all other weld positions.
If flying start is activated, the start point must be a zone.
Weld data changes over to the next arc welding instruction at the center point of
the corner path.
Tool
Data type: tooldata
The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.
[\WObj]
Data type: wobjdata
The work object (coordinate system) to which the instruction’s robot position is
referenced. When this argument is omitted, the robot position is referenced to the
world coordinate system. It must, however, be specified if a stationary TCP or
coordinated additional axes are used.
\WObj can be used if a coordinate system is defined for either the object in question
or the weld seam.
[\Corr]
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position, if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[\Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcL instruction, but
deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires the Optical tracking or WeldGuide options.
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
[\PreProcessTracking]
Data type: switch
This argument is effective only if first_instruction is set to TRUE and the
\Track argument is present.
This argument activates Pre Process Tracking , which means that the robot will be
tracking only, without process, during that CapX instruction. Thereby sensor data
are available for successful tracking right off the start of the path with process, e.g.
welding.
For more information see Operating manual - Tracking and searching with optical
sensors .
[\SeamName]
Data type: string
The seam name is a string which will be added to error logs if an error occurs
during the welding sequence. \SeamName is only applicable together with the
ArcCStart instruction.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO , TriggIO , TriggEquip or TriggInt .
[\TLoad]
Data type: loaddata
The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
[\FlyStart]
Data type: flystartdata
If the weld shall start with a moving TCP it has to be activated via the parameter
active within the flystartdata . The supervision for the ignition is different than
for a standing still start. If no ignition has occurred within superv_distance from
the starting zone a supervision error will occur.
When using flying start the start point must be a zone.
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved circularly at a constant programmed speed.
When coordinated axes are used, the robot and the coordinated axes are
moved simultaneously, resulting in the programmed path and speed for the
TCP relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
The instruction ArcC should never be restarted after the circle point has been
passed. Otherwise the robot will not take the programmed path (positioning around
the circular path in another direction compared with that programmed).
Flying start
When using flying start the system will trigger the ignition when the TCP passes
the starting point. The TCP will be moving and it will change to welding speed as
close as possible to the zone centre. Due to the movement the actual position for
the start point of the weld will be some distance away from the starting point. That
distance is a result of the welding speed and the ignition time of the actual welder.
Flying start cannot be used it in combination with Ignition Movement Delay or a
Scrape Start . The starting point must be a zone.
Flying start ignores the PRE supervision phase. Instead there is a ignition
supervision distance that is given with the parameter superv_distance . If no
ignition has occurred within that distance an ignition error will raise.
Flying start can be deactivated by setting the parameter active to false. By doing
so the start will be treated as a normal weld start with a stopping TCP. The zone
point will be automatic changed to a stop point ( fine ).
Flying start will not be used when restarting after an ignition error or any other
weld error.
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Continued
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[\PreProcessTracking]
Data type: switch
This argument is effective only if first_instruction is set to TRUE and the
\Track argument is present.
This argument activates Pre Process Tracking , which means that the robot will be
tracking only, without process, during that CapX instruction. Thereby sensor data
are available for successful tracking right off the start of the path with process, e.g.
welding.
For more information see Operating manual - Tracking and searching with optical
sensors .
[\SeamName]
Data type: string
The seam name is a string which will be added to error logs if an error occurs
during the welding sequence. \SeamName is only applicable together with the
ArcCStart instruction.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO , TriggIO , TriggEquip or TriggInt .
[\TLoad]
Data type: loaddata
The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
[\FlyStart]
Data type: flystartdata
If the weld shall start with a moving TCP it has to be activated via the parameter
active within the flystartdata . The supervision for the ignition is different than
for a standing still start. If no ignition has occurred within superv_distance from
the starting zone a supervision error will occur.
When using flying start the start point must be a zone.
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved circularly at a constant programmed speed.
When coordinated axes are used, the robot and the coordinated axes are
moved simultaneously, resulting in the programmed path and speed for the
TCP relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
The instruction ArcC should never be restarted after the circle point has been
passed. Otherwise the robot will not take the programmed path (positioning around
the circular path in another direction compared with that programmed).
Flying start
When using flying start the system will trigger the ignition when the TCP passes
the starting point. The TCP will be moving and it will change to welding speed as
close as possible to the zone centre. Due to the movement the actual position for
the start point of the weld will be some distance away from the starting point. That
distance is a result of the welding speed and the ignition time of the actual welder.
Flying start cannot be used it in combination with Ignition Movement Delay or a
Scrape Start . The starting point must be a zone.
Flying start ignores the PRE supervision phase. Instead there is a ignition
supervision distance that is given with the parameter superv_distance . If no
ignition has occurred within that distance an ignition error will raise.
Flying start can be deactivated by setting the parameter active to false. By doing
so the start will be treated as a normal weld start with a stopping TCP. The zone
point will be automatic changed to a stop point ( fine ).
Flying start will not be used when restarting after an ignition error or any other
weld error.
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
Welding interrupted using the stop process input
AW_STOP_ERR
The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 202 ):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc_OK, within a predetermined time period, the process start will be
interrupted. When the process is started, all supervision inputs selected - such as
stop process, water supervision, gas supervision, arc supervision, volt supervision,
current supervision, wire supervision - are monitored continuously.
Wirestick errors are non-recoverable. That is, the welding process and motion can
not be resumed until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a multimove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *,v100, seam1, weld5 \Weave:=weave1,
fine,gun1\Wobj:=wobj1;
ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
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Continued
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Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved circularly at a constant programmed speed.
When coordinated axes are used, the robot and the coordinated axes are
moved simultaneously, resulting in the programmed path and speed for the
TCP relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
The instruction ArcC should never be restarted after the circle point has been
passed. Otherwise the robot will not take the programmed path (positioning around
the circular path in another direction compared with that programmed).
Flying start
When using flying start the system will trigger the ignition when the TCP passes
the starting point. The TCP will be moving and it will change to welding speed as
close as possible to the zone centre. Due to the movement the actual position for
the start point of the weld will be some distance away from the starting point. That
distance is a result of the welding speed and the ignition time of the actual welder.
Flying start cannot be used it in combination with Ignition Movement Delay or a
Scrape Start . The starting point must be a zone.
Flying start ignores the PRE supervision phase. Instead there is a ignition
supervision distance that is given with the parameter superv_distance . If no
ignition has occurred within that distance an ignition error will raise.
Flying start can be deactivated by setting the parameter active to false. By doing
so the start will be treated as a normal weld start with a stopping TCP. The zone
point will be automatic changed to a stop point ( fine ).
Flying start will not be used when restarting after an ignition error or any other
weld error.
Continues on next page
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
Welding interrupted using the stop process input
AW_STOP_ERR
The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 202 ):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc_OK, within a predetermined time period, the process start will be
interrupted. When the process is started, all supervision inputs selected - such as
stop process, water supervision, gas supervision, arc supervision, volt supervision,
current supervision, wire supervision - are monitored continuously.
Wirestick errors are non-recoverable. That is, the welding process and motion can
not be resumed until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a multimove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *,v100, seam1, weld5 \Weave:=weave1,
fine,gun1\Wobj:=wobj1;
ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
Continues on next page
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcCEnd *, *, v100, seam1,weld3\Weave:=weave3,
fine,gun1\Wobj:=wobj1;
MoveL ...
In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure.
x xxx x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
weld5, weave1
weld3, weave3
ArcC
Movement without welding
Movement with welding
Start preparations
Direction of welding
ArcC
xx1200000712
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
Limitations
ArcCStart , ArcC1Start , ArcC2Start cannot be executed in an UNDO handler
or RAPID routine connected to any of the following special system events: PowerOn,
Stop, QStop, Restart, Reset or Step.
Syntax
ArcCStart
[CirPoint ':='] <expression ( IN ) of robtarget>','
[ToPoint ':='] <expression ( IN ) of robtarget>','
[Speed ':='] <expression ( IN ) of speeddata>','
[Seam ':='] <persistent ( PERS ) of seamdata>','
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':=' <persistent ( PERS ) of weavedata>]','
[Zone ':='] <expression ( IN ) of zonedata>','
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\' Corr]
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
|['\' PreProcessTracking]
['\' SeamName ':=' <expression ( IN ) of string>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
Continues on next page
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
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Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
Welding interrupted using the stop process input
AW_STOP_ERR
The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 202 ):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc_OK, within a predetermined time period, the process start will be
interrupted. When the process is started, all supervision inputs selected - such as
stop process, water supervision, gas supervision, arc supervision, volt supervision,
current supervision, wire supervision - are monitored continuously.
Wirestick errors are non-recoverable. That is, the welding process and motion can
not be resumed until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a multimove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *,v100, seam1, weld5 \Weave:=weave1,
fine,gun1\Wobj:=wobj1;
ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
Continues on next page
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcCEnd *, *, v100, seam1,weld3\Weave:=weave3,
fine,gun1\Wobj:=wobj1;
MoveL ...
In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure.
x xxx x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
weld5, weave1
weld3, weave3
ArcC
Movement without welding
Movement with welding
Start preparations
Direction of welding
ArcC
xx1200000712
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
Limitations
ArcCStart , ArcC1Start , ArcC2Start cannot be executed in an UNDO handler
or RAPID routine connected to any of the following special system events: PowerOn,
Stop, QStop, Restart, Reset or Step.
Syntax
ArcCStart
[CirPoint ':='] <expression ( IN ) of robtarget>','
[ToPoint ':='] <expression ( IN ) of robtarget>','
[Speed ':='] <expression ( IN ) of speeddata>','
[Seam ':='] <persistent ( PERS ) of seamdata>','
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':=' <persistent ( PERS ) of weavedata>]','
[Zone ':='] <expression ( IN ) of zonedata>','
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\' Corr]
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
|['\' PreProcessTracking]
['\' SeamName ':=' <expression ( IN ) of string>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
Continues on next page
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
['\' TLoad ':='] <persistent ( PERS ) of loaddata>]
['\' FlyStart ':='] <persistent ( PERS ) of flystartdata>]';'
Related information
Described in
Information
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
flystartdata - Flying start data on page 175
Definition of flying start data
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
128
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
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ArcC *, *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcCEnd *, *, v100, seam1,weld3\Weave:=weave3,
fine,gun1\Wobj:=wobj1;
MoveL ...
In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure.
x xxx x x
xxxxx
MoveL
ArcLStart
ArcCEnd
MoveL
weld5, weave1
weld3, weave3
ArcC
Movement without welding
Movement with welding
Start preparations
Direction of welding
ArcC
xx1200000712
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
Limitations
ArcCStart , ArcC1Start , ArcC2Start cannot be executed in an UNDO handler
or RAPID routine connected to any of the following special system events: PowerOn,
Stop, QStop, Restart, Reset or Step.
Syntax
ArcCStart
[CirPoint ':='] <expression ( IN ) of robtarget>','
[ToPoint ':='] <expression ( IN ) of robtarget>','
[Speed ':='] <expression ( IN ) of speeddata>','
[Seam ':='] <persistent ( PERS ) of seamdata>','
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':=' <persistent ( PERS ) of weavedata>]','
[Zone ':='] <expression ( IN ) of zonedata>','
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\' Corr]
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
|['\' PreProcessTracking]
['\' SeamName ':=' <expression ( IN ) of string>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
Continues on next page
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7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
['\' TLoad ':='] <persistent ( PERS ) of loaddata>]
['\' FlyStart ':='] <persistent ( PERS ) of flystartdata>]';'
Related information
Described in
Information
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
flystartdata - Flying start data on page 175
Definition of flying start data
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
128
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7 RAPID reference
7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
7.1.4 ArcL, ArcL1, ArcL2 - Arc welding with linear motion
Usage
ArcL is used to weld along a straight seam. The instruction controls and monitors
the entire welding process as follows:
•
The tool center point (TCP) is moved linearly to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The only difference between ArcL , ArcL1 and ArcL2 is that they are connected
to different Arc Weld systems configured in the system parameters. Although ArcL
is used in the examples, ArcL1 or ArcL2 could equally well be used.
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
Example
MoveJ ...
ArcLStart p1, v100, seam1, weld5, fine, gun1;
ArcL p2, v100, seam1, weld5, fine, gun1;
ArcLEnd p3, v100, seam1, weld5, fine, gun1;
MoveJ ...
This welds a seam between points p1 and p3 , as illustrated in the following figure.
x x x x x
xxxxx
MoveJ
ArcL
ArcLEnd
MoveJ
Movement with welding
Direction of welding
Movement without welding
Start preparations
ArcLStart
p1
p2
p3
xx1200000706
On the way to p1 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p1
and end at p3 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Continues on next page
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7.1.4 ArcL, ArcL1, ArcL2 - Arc welding with linear motion
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['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
['\' TLoad ':='] <persistent ( PERS ) of loaddata>]
['\' FlyStart ':='] <persistent ( PERS ) of flystartdata>]';'
Related information
Described in
Information
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
flystartdata - Flying start data on page 175
Definition of flying start data
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
128
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7 RAPID reference
7.1.3 ArcCStart, ArcC1Start, ArcC2Start - Arc welding start with circular motion
Continued
7.1.4 ArcL, ArcL1, ArcL2 - Arc welding with linear motion
Usage
ArcL is used to weld along a straight seam. The instruction controls and monitors
the entire welding process as follows:
•
The tool center point (TCP) is moved linearly to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The only difference between ArcL , ArcL1 and ArcL2 is that they are connected
to different Arc Weld systems configured in the system parameters. Although ArcL
is used in the examples, ArcL1 or ArcL2 could equally well be used.
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
Example
MoveJ ...
ArcLStart p1, v100, seam1, weld5, fine, gun1;
ArcL p2, v100, seam1, weld5, fine, gun1;
ArcLEnd p3, v100, seam1, weld5, fine, gun1;
MoveJ ...
This welds a seam between points p1 and p3 , as illustrated in the following figure.
x x x x x
xxxxx
MoveJ
ArcL
ArcLEnd
MoveJ
Movement with welding
Direction of welding
Movement without welding
Start preparations
ArcLStart
p1
p2
p3
xx1200000706
On the way to p1 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p1
and end at p3 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Continues on next page
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7.1.4 ArcL, ArcL1, ArcL2 - Arc welding with linear motion
Arguments
ArcL ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool [\WObj]
[\Corr] [\Track] [\TrackOffsetFrame] [\Time] [\T1] [\T2] [\T3]
[\T4] [\T5] [\T6] [\T7] [\TLoad]
ToPoint
Data type: robtarget
The destination position of the robot and additional axes. This is either defined as
a named position or stored directly in the instruction (indicated by an * in the
instruction).
[\ID]
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcLStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
xxxx xx
xxxxx
MoveJ
ArcLStart
ArcLEnd
MoveJ
p1
p2
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000705
Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Seam
Data type: seamdata
Continues on next page
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7.1.4 ArcL, ArcL1, ArcL2 - Arc welding with linear motion
Continued
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7.1.4 ArcL, ArcL1, ArcL2 - Arc welding with linear motion
Usage
ArcL is used to weld along a straight seam. The instruction controls and monitors
the entire welding process as follows:
•
The tool center point (TCP) is moved linearly to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The only difference between ArcL , ArcL1 and ArcL2 is that they are connected
to different Arc Weld systems configured in the system parameters. Although ArcL
is used in the examples, ArcL1 or ArcL2 could equally well be used.
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
Example
MoveJ ...
ArcLStart p1, v100, seam1, weld5, fine, gun1;
ArcL p2, v100, seam1, weld5, fine, gun1;
ArcLEnd p3, v100, seam1, weld5, fine, gun1;
MoveJ ...
This welds a seam between points p1 and p3 , as illustrated in the following figure.
x x x x x
xxxxx
MoveJ
ArcL
ArcLEnd
MoveJ
Movement with welding
Direction of welding
Movement without welding
Start preparations
ArcLStart
p1
p2
p3
xx1200000706
On the way to p1 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p1
and end at p3 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Continues on next page
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7.1.4 ArcL, ArcL1, ArcL2 - Arc welding with linear motion
Arguments
ArcL ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool [\WObj]
[\Corr] [\Track] [\TrackOffsetFrame] [\Time] [\T1] [\T2] [\T3]
[\T4] [\T5] [\T6] [\T7] [\TLoad]
ToPoint
Data type: robtarget
The destination position of the robot and additional axes. This is either defined as
a named position or stored directly in the instruction (indicated by an * in the
instruction).
[\ID]
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcLStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
xxxx xx
xxxxx
MoveJ
ArcLStart
ArcLEnd
MoveJ
p1
p2
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000705
Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Seam
Data type: seamdata
Continues on next page
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7.1.4 ArcL, ArcL1, ArcL2 - Arc welding with linear motion
Continued
Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position.
In the case of a fly-by point, a corner path is generated past that position. In the
case of a stop point (fine), the movement is interrupted until all axes have reached
the programmed point.
A stop point (fine) is always generated automatically at the start position of a weld
and at a controlled weld end position. Fly-by points, such as z10, should be used
for all other weld positions.
Weld data changes over to the next arc welding instruction at the center point of
the corner path.
Tool
Data type: tooldata
The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.
[\WObj]
Data type: wobjdata
The work object (coordinate system) to which the instruction’s robot position is
referenced. When this argument is omitted, the robot position is referenced to the
world coordinate system. It must, however, be specified if a stationary TCP or
coordinated additional axes are used.
\WObj can be used if a coordinate system is defined for either the object in question
or the weld seam.
[\Corr]
Data type: switch
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Arguments
ArcL ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool [\WObj]
[\Corr] [\Track] [\TrackOffsetFrame] [\Time] [\T1] [\T2] [\T3]
[\T4] [\T5] [\T6] [\T7] [\TLoad]
ToPoint
Data type: robtarget
The destination position of the robot and additional axes. This is either defined as
a named position or stored directly in the instruction (indicated by an * in the
instruction).
[\ID]
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcLStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
xxxx xx
xxxxx
MoveJ
ArcLStart
ArcLEnd
MoveJ
p1
p2
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000705
Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Seam
Data type: seamdata
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Continued
Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position.
In the case of a fly-by point, a corner path is generated past that position. In the
case of a stop point (fine), the movement is interrupted until all axes have reached
the programmed point.
A stop point (fine) is always generated automatically at the start position of a weld
and at a controlled weld end position. Fly-by points, such as z10, should be used
for all other weld positions.
Weld data changes over to the next arc welding instruction at the center point of
the corner path.
Tool
Data type: tooldata
The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.
[\WObj]
Data type: wobjdata
The work object (coordinate system) to which the instruction’s robot position is
referenced. When this argument is omitted, the robot position is referenced to the
world coordinate system. It must, however, be specified if a stationary TCP or
coordinated additional axes are used.
\WObj can be used if a coordinate system is defined for either the object in question
or the weld seam.
[\Corr]
Data type: switch
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Continued
Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position, if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[ \Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcL instruction, but
deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires the Optical tracking or WeldGuide options.
[\TrackOffsetFrame]
Data type: captrackoffsframe
This optional argument is used to select the frame in which the optical tracking
offset (seamoffs_y and seamoffs_z) is applied.
The following predefined values are available:
Description
Value
The sensor measurement coordinate system.
This is the default value, if this optional argu-
ment is not present.
CAP_OFFSET_FRAME_SENSOR
The path coordinate system.
CAP_OFFSET_FRAME_PATH
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Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position.
In the case of a fly-by point, a corner path is generated past that position. In the
case of a stop point (fine), the movement is interrupted until all axes have reached
the programmed point.
A stop point (fine) is always generated automatically at the start position of a weld
and at a controlled weld end position. Fly-by points, such as z10, should be used
for all other weld positions.
Weld data changes over to the next arc welding instruction at the center point of
the corner path.
Tool
Data type: tooldata
The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.
[\WObj]
Data type: wobjdata
The work object (coordinate system) to which the instruction’s robot position is
referenced. When this argument is omitted, the robot position is referenced to the
world coordinate system. It must, however, be specified if a stationary TCP or
coordinated additional axes are used.
\WObj can be used if a coordinate system is defined for either the object in question
or the weld seam.
[\Corr]
Data type: switch
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Continued
Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position, if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[ \Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcL instruction, but
deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires the Optical tracking or WeldGuide options.
[\TrackOffsetFrame]
Data type: captrackoffsframe
This optional argument is used to select the frame in which the optical tracking
offset (seamoffs_y and seamoffs_z) is applied.
The following predefined values are available:
Description
Value
The sensor measurement coordinate system.
This is the default value, if this optional argu-
ment is not present.
CAP_OFFSET_FRAME_SENSOR
The path coordinate system.
CAP_OFFSET_FRAME_PATH
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![Image]
xx2400000789
[ \Time ]
Data type: num
This argument is used to specify the total time in seconds during which the robot
and additional axes move. It is then substituted for the corresponding speed data.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO , TriggIO , TriggEquip or TriggInt .
[\TLoad]
Data type: loaddata
The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
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Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position, if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[ \Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcL instruction, but
deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires the Optical tracking or WeldGuide options.
[\TrackOffsetFrame]
Data type: captrackoffsframe
This optional argument is used to select the frame in which the optical tracking
offset (seamoffs_y and seamoffs_z) is applied.
The following predefined values are available:
Description
Value
The sensor measurement coordinate system.
This is the default value, if this optional argu-
ment is not present.
CAP_OFFSET_FRAME_SENSOR
The path coordinate system.
CAP_OFFSET_FRAME_PATH
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![Image]
xx2400000789
[ \Time ]
Data type: num
This argument is used to specify the total time in seconds during which the robot
and additional axes move. It is then substituted for the corresponding speed data.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO , TriggIO , TriggEquip or TriggInt .
[\TLoad]
Data type: loaddata
The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
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Continued
If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved linearly at a constant programmed speed. When
coordinated axes are used, the robot and the coordinated axes are moved
simultaneously, resulting in the programmed path and speed for the TCP
relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
Do not use double points, i.e. two consecutive robtargets with the same coordinates
(x,y,z) in the same weld. It will result in a short weld process stop with possible
weld defects. When the error occurs, the error message 110003 Arc Supervision
is reported.
Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
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![Image]
xx2400000789
[ \Time ]
Data type: num
This argument is used to specify the total time in seconds during which the robot
and additional axes move. It is then substituted for the corresponding speed data.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO , TriggIO , TriggEquip or TriggInt .
[\TLoad]
Data type: loaddata
The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
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Continued
If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved linearly at a constant programmed speed. When
coordinated axes are used, the robot and the coordinated axes are moved
simultaneously, resulting in the programmed path and speed for the TCP
relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
Do not use double points, i.e. two consecutive robtargets with the same coordinates
(x,y,z) in the same weld. It will result in a short weld process stop with possible
weld defects. When the error occurs, the error message 110003 Arc Supervision
is reported.
Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
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Continued
Description
Error constant (ERRNO value)
Welding interrupted using the stop process input
AW_STOP_ERR
The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 53):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc supervision, within a predetermined time period, the process start
will be interrupted. When the process is started, all supervision inputs selected -
such as stop process, water supervision, gas supervision, arc supervision, volt
supervision, current supervision, wire supervision - are monitored continuously.
The wirestick status is checked at the start and end of the weld. Wirestick errors
are non-recoverable. That is, the welding process and motion can not be resumed
until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a MultiMove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *, v100, seam1, weld5 \Weave:=weave1, fine,
gun1\Wobj:=wobj1;
ArcL *, v100, seam1, weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcL *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcLEnd *, v100, seam1, weld3 \Weave:=weave3, fine,
gun1\Wobj:=wobj1;
MoveL ...
In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure. Note that an
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If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved linearly at a constant programmed speed. When
coordinated axes are used, the robot and the coordinated axes are moved
simultaneously, resulting in the programmed path and speed for the TCP
relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
Do not use double points, i.e. two consecutive robtargets with the same coordinates
(x,y,z) in the same weld. It will result in a short weld process stop with possible
weld defects. When the error occurs, the error message 110003 Arc Supervision
is reported.
Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
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Continued
Description
Error constant (ERRNO value)
Welding interrupted using the stop process input
AW_STOP_ERR
The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 53):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc supervision, within a predetermined time period, the process start
will be interrupted. When the process is started, all supervision inputs selected -
such as stop process, water supervision, gas supervision, arc supervision, volt
supervision, current supervision, wire supervision - are monitored continuously.
The wirestick status is checked at the start and end of the weld. Wirestick errors
are non-recoverable. That is, the welding process and motion can not be resumed
until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a MultiMove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *, v100, seam1, weld5 \Weave:=weave1, fine,
gun1\Wobj:=wobj1;
ArcL *, v100, seam1, weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcL *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcLEnd *, v100, seam1, weld3 \Weave:=weave3, fine,
gun1\Wobj:=wobj1;
MoveL ...
In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure. Note that an
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Continued
arc welding instruction must be used to change the direction of the path despite
the fact that no weld data is changed.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcLEnd
MoveL
weld5, weave1
Movement without welding
Movement with welding
Start preparations
Direction of welding
weld3, weave3
ArcL
ArcL
xx1200000707
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
Limitations
ArcL , ArcL1 , ArcL2 cannot be executed in an UNDO handler or RAPID routine
connected to any of the following special system events: PowerOn, Stop, QStop,
Restart, Reset or Step.
Syntax
ArcL
[ToPoint ':='] <expression ( IN ) of robtarget>
[Speed ':='] <expression ( IN ) of speeddata>
[Seam ':='] <persistent ( PERS ) of seamdata>
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':='] <persistent ( PERS ) of weavedata>','
[Zone ':='] <expression ( IN ) of zonedata>
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\'Corr ',']
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
['\' TrackOffsetFrame ':=' < expression ( IN ) of captrackoffsframe
> ]
['\' Time ':=' <expression ( IN ) of num>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
['\' TLoad ':='] <persistent ( PERS ) of loaddata>]';'
Continues on next page
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7.1.4 ArcL, ArcL1, ArcL2 - Arc welding with linear motion
Continued
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Description
Error constant (ERRNO value)
Welding interrupted using the stop process input
AW_STOP_ERR
The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 53):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc supervision, within a predetermined time period, the process start
will be interrupted. When the process is started, all supervision inputs selected -
such as stop process, water supervision, gas supervision, arc supervision, volt
supervision, current supervision, wire supervision - are monitored continuously.
The wirestick status is checked at the start and end of the weld. Wirestick errors
are non-recoverable. That is, the welding process and motion can not be resumed
until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a MultiMove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *, v100, seam1, weld5 \Weave:=weave1, fine,
gun1\Wobj:=wobj1;
ArcL *, v100, seam1, weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcL *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcLEnd *, v100, seam1, weld3 \Weave:=weave3, fine,
gun1\Wobj:=wobj1;
MoveL ...
In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure. Note that an
Continues on next page
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7 RAPID reference
7.1.4 ArcL, ArcL1, ArcL2 - Arc welding with linear motion
Continued
arc welding instruction must be used to change the direction of the path despite
the fact that no weld data is changed.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcLEnd
MoveL
weld5, weave1
Movement without welding
Movement with welding
Start preparations
Direction of welding
weld3, weave3
ArcL
ArcL
xx1200000707
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
Limitations
ArcL , ArcL1 , ArcL2 cannot be executed in an UNDO handler or RAPID routine
connected to any of the following special system events: PowerOn, Stop, QStop,
Restart, Reset or Step.
Syntax
ArcL
[ToPoint ':='] <expression ( IN ) of robtarget>
[Speed ':='] <expression ( IN ) of speeddata>
[Seam ':='] <persistent ( PERS ) of seamdata>
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':='] <persistent ( PERS ) of weavedata>','
[Zone ':='] <expression ( IN ) of zonedata>
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\'Corr ',']
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
['\' TrackOffsetFrame ':=' < expression ( IN ) of captrackoffsframe
> ]
['\' Time ':=' <expression ( IN ) of num>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
['\' TLoad ':='] <persistent ( PERS ) of loaddata>]';'
Continues on next page
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7 RAPID reference
7.1.4 ArcL, ArcL1, ArcL2 - Arc welding with linear motion
Continued
Related information
Described in
Information
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Performing a circular motion weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
Application manual - Arc and Arc Sensor
137
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7 RAPID reference
7.1.4 ArcL, ArcL1, ArcL2 - Arc welding with linear motion
Continued
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arc welding instruction must be used to change the direction of the path despite
the fact that no weld data is changed.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcLEnd
MoveL
weld5, weave1
Movement without welding
Movement with welding
Start preparations
Direction of welding
weld3, weave3
ArcL
ArcL
xx1200000707
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
Limitations
ArcL , ArcL1 , ArcL2 cannot be executed in an UNDO handler or RAPID routine
connected to any of the following special system events: PowerOn, Stop, QStop,
Restart, Reset or Step.
Syntax
ArcL
[ToPoint ':='] <expression ( IN ) of robtarget>
[Speed ':='] <expression ( IN ) of speeddata>
[Seam ':='] <persistent ( PERS ) of seamdata>
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':='] <persistent ( PERS ) of weavedata>','
[Zone ':='] <expression ( IN ) of zonedata>
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\'Corr ',']
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
['\' TrackOffsetFrame ':=' < expression ( IN ) of captrackoffsframe
> ]
['\' Time ':=' <expression ( IN ) of num>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
['\' TLoad ':='] <persistent ( PERS ) of loaddata>]';'
Continues on next page
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7 RAPID reference
7.1.4 ArcL, ArcL1, ArcL2 - Arc welding with linear motion
Continued
Related information
Described in
Information
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Performing a circular motion weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
Application manual - Arc and Arc Sensor
137
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.4 ArcL, ArcL1, ArcL2 - Arc welding with linear motion
Continued
7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
Usage
ArcLEnd is used to weld along a straight seam. The instruction controls and
monitors the entire welding process as follows:
•
The tool center point (TCP) is moved linearly to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The only difference between ArcLEnd , ArcL1End and ArcL2End is that they are
connected to different Arc Weld systems configured in the system parameters.
Although ArcLEnd is used in the examples, ArcL1End or ArcL2End could equally
well be used.
When the instruction ArcLEnd is used, welding ends when the robot reaches the
destination position. Regardless of what is specified in the Zone argument, the
destination position will be a stop point (fine).
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
Example
MoveJ ...
ArcLStart p1, v100, seam1, weld5, fine, gun1;
ArcLEnd p2, v100, seam1, weld5, fine, gun1;
MoveJ ...
This welds a straight seam between points p1 and p2, as illustrated in the following
figure.
xxxx xx
xxxxx
MoveJ
ArcLStart
ArcLEnd
MoveJ
p1
p2
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000705
On the way to p1 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p1
Continues on next page
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7 RAPID reference
7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
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Related information
Described in
Information
ArcC, ArcC1, ArcC2 - Arc welding with circu-
lar motion on page 101
Performing a circular motion weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
Application manual - Arc and Arc Sensor
137
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.4 ArcL, ArcL1, ArcL2 - Arc welding with linear motion
Continued
7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
Usage
ArcLEnd is used to weld along a straight seam. The instruction controls and
monitors the entire welding process as follows:
•
The tool center point (TCP) is moved linearly to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The only difference between ArcLEnd , ArcL1End and ArcL2End is that they are
connected to different Arc Weld systems configured in the system parameters.
Although ArcLEnd is used in the examples, ArcL1End or ArcL2End could equally
well be used.
When the instruction ArcLEnd is used, welding ends when the robot reaches the
destination position. Regardless of what is specified in the Zone argument, the
destination position will be a stop point (fine).
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
Example
MoveJ ...
ArcLStart p1, v100, seam1, weld5, fine, gun1;
ArcLEnd p2, v100, seam1, weld5, fine, gun1;
MoveJ ...
This welds a straight seam between points p1 and p2, as illustrated in the following
figure.
xxxx xx
xxxxx
MoveJ
ArcLStart
ArcLEnd
MoveJ
p1
p2
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000705
On the way to p1 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p1
Continues on next page
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7 RAPID reference
7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
and end at p2 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Arguments
ArcLEnd ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool [\WObj]
[\Corr] [\Track] [\TrackOffsetFrame] [\Time] [\T1] [\T2] [\T3]
[\T4] [\T5] [\T6] [\T7] [\TLoad]
ToPoint
Data type: robtarget
The destination position of the robot and additional axes. This is either defined as
a named position or stored directly in the instruction (indicated by an * in the
instruction).
[\ID]
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcLStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
xxxx xx
xxxxx
MoveJ
ArcLStart
ArcLEnd
MoveJ
p1
p2
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000705
Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Continues on next page
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7 RAPID reference
7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
Continued
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7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
Usage
ArcLEnd is used to weld along a straight seam. The instruction controls and
monitors the entire welding process as follows:
•
The tool center point (TCP) is moved linearly to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The only difference between ArcLEnd , ArcL1End and ArcL2End is that they are
connected to different Arc Weld systems configured in the system parameters.
Although ArcLEnd is used in the examples, ArcL1End or ArcL2End could equally
well be used.
When the instruction ArcLEnd is used, welding ends when the robot reaches the
destination position. Regardless of what is specified in the Zone argument, the
destination position will be a stop point (fine).
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
Example
MoveJ ...
ArcLStart p1, v100, seam1, weld5, fine, gun1;
ArcLEnd p2, v100, seam1, weld5, fine, gun1;
MoveJ ...
This welds a straight seam between points p1 and p2, as illustrated in the following
figure.
xxxx xx
xxxxx
MoveJ
ArcLStart
ArcLEnd
MoveJ
p1
p2
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000705
On the way to p1 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p1
Continues on next page
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© Copyright 2004-2024 ABB. All rights reserved.
7 RAPID reference
7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
and end at p2 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Arguments
ArcLEnd ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool [\WObj]
[\Corr] [\Track] [\TrackOffsetFrame] [\Time] [\T1] [\T2] [\T3]
[\T4] [\T5] [\T6] [\T7] [\TLoad]
ToPoint
Data type: robtarget
The destination position of the robot and additional axes. This is either defined as
a named position or stored directly in the instruction (indicated by an * in the
instruction).
[\ID]
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcLStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
xxxx xx
xxxxx
MoveJ
ArcLStart
ArcLEnd
MoveJ
p1
p2
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000705
Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Continues on next page
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7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
Continued
Seam
Data type: seamdata
Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position.
In the case of a fly-by point, a corner path is generated past that position. In the
case of a stop point (fine), the movement is interrupted until all axes have reached
the programmed point.
A stop point (fine) is always generated automatically at the start position of a weld
and at a controlled weld end position. Fly-by points, such as z10, should be used
for all other weld positions.
Weld data changes over to the next arc welding instruction at the center point of
the corner path.
Tool
Data type: tooldata
The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.
[\WObj]
Data type: wobjdata
The work object (coordinate system) to which the instruction’s robot position is
referenced. When this argument is omitted, the robot position is referenced to the
world coordinate system. It must, however, be specified if a stationary TCP or
coordinated additional axes are used.
\WObj can be used if a coordinate system is defined for either the object in question
or the weld seam.
Continues on next page
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7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
Continued
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and end at p2 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Arguments
ArcLEnd ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool [\WObj]
[\Corr] [\Track] [\TrackOffsetFrame] [\Time] [\T1] [\T2] [\T3]
[\T4] [\T5] [\T6] [\T7] [\TLoad]
ToPoint
Data type: robtarget
The destination position of the robot and additional axes. This is either defined as
a named position or stored directly in the instruction (indicated by an * in the
instruction).
[\ID]
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcLStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
xxxx xx
xxxxx
MoveJ
ArcLStart
ArcLEnd
MoveJ
p1
p2
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000705
Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Continues on next page
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7 RAPID reference
7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
Continued
Seam
Data type: seamdata
Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position.
In the case of a fly-by point, a corner path is generated past that position. In the
case of a stop point (fine), the movement is interrupted until all axes have reached
the programmed point.
A stop point (fine) is always generated automatically at the start position of a weld
and at a controlled weld end position. Fly-by points, such as z10, should be used
for all other weld positions.
Weld data changes over to the next arc welding instruction at the center point of
the corner path.
Tool
Data type: tooldata
The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.
[\WObj]
Data type: wobjdata
The work object (coordinate system) to which the instruction’s robot position is
referenced. When this argument is omitted, the robot position is referenced to the
world coordinate system. It must, however, be specified if a stationary TCP or
coordinated additional axes are used.
\WObj can be used if a coordinate system is defined for either the object in question
or the weld seam.
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Continued
[\Corr]
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position, if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[\Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcL instruction, but
deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires the Optical tracking or WeldGuide options.
[\TrackOffsetFrame]
Data type: captrackoffsframe
This optional argument is used to select the frame in which the optical tracking
offset (seamoffs_y and seamoffs_z) is applied.
The following predefined values are available:
Description
Value
The sensor measurement coordinate system.
This is the default value, if this optional argu-
ment is not present.
CAP_OFFSET_FRAME_SENSOR
The path coordinate system.
CAP_OFFSET_FRAME_PATH
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Seam
Data type: seamdata
Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position.
In the case of a fly-by point, a corner path is generated past that position. In the
case of a stop point (fine), the movement is interrupted until all axes have reached
the programmed point.
A stop point (fine) is always generated automatically at the start position of a weld
and at a controlled weld end position. Fly-by points, such as z10, should be used
for all other weld positions.
Weld data changes over to the next arc welding instruction at the center point of
the corner path.
Tool
Data type: tooldata
The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.
[\WObj]
Data type: wobjdata
The work object (coordinate system) to which the instruction’s robot position is
referenced. When this argument is omitted, the robot position is referenced to the
world coordinate system. It must, however, be specified if a stationary TCP or
coordinated additional axes are used.
\WObj can be used if a coordinate system is defined for either the object in question
or the weld seam.
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Continued
[\Corr]
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position, if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[\Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcL instruction, but
deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires the Optical tracking or WeldGuide options.
[\TrackOffsetFrame]
Data type: captrackoffsframe
This optional argument is used to select the frame in which the optical tracking
offset (seamoffs_y and seamoffs_z) is applied.
The following predefined values are available:
Description
Value
The sensor measurement coordinate system.
This is the default value, if this optional argu-
ment is not present.
CAP_OFFSET_FRAME_SENSOR
The path coordinate system.
CAP_OFFSET_FRAME_PATH
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Continued
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xx2400000789
[\Time]
Data type: num
This argument is used to specify the total time in seconds during which the robot
and additional axes move. It is then substituted for the corresponding speed data.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO , TriggIO , TriggEquip or TriggInt .
[\TLoad]
Data type: loaddata
The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
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[\Corr]
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position, if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[\Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcL instruction, but
deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires the Optical tracking or WeldGuide options.
[\TrackOffsetFrame]
Data type: captrackoffsframe
This optional argument is used to select the frame in which the optical tracking
offset (seamoffs_y and seamoffs_z) is applied.
The following predefined values are available:
Description
Value
The sensor measurement coordinate system.
This is the default value, if this optional argu-
ment is not present.
CAP_OFFSET_FRAME_SENSOR
The path coordinate system.
CAP_OFFSET_FRAME_PATH
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Continued
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xx2400000789
[\Time]
Data type: num
This argument is used to specify the total time in seconds during which the robot
and additional axes move. It is then substituted for the corresponding speed data.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO , TriggIO , TriggEquip or TriggInt .
[\TLoad]
Data type: loaddata
The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
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Continued
If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved linearly at a constant programmed speed. When
coordinated axes are used, the robot and the coordinated axes are moved
simultaneously, resulting in the programmed path and speed for the TCP
relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
Do not use double points, i.e. two consecutive robtargets with the same coordinates
(x,y,z) in the same weld. It will result in a short weld process stop with possible
weld defects. When the error occurs, the error message 110003 Arc Supervision
is reported.
Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
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![Image]
xx2400000789
[\Time]
Data type: num
This argument is used to specify the total time in seconds during which the robot
and additional axes move. It is then substituted for the corresponding speed data.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO , TriggIO , TriggEquip or TriggInt .
[\TLoad]
Data type: loaddata
The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
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Continued
If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved linearly at a constant programmed speed. When
coordinated axes are used, the robot and the coordinated axes are moved
simultaneously, resulting in the programmed path and speed for the TCP
relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
Do not use double points, i.e. two consecutive robtargets with the same coordinates
(x,y,z) in the same weld. It will result in a short weld process stop with possible
weld defects. When the error occurs, the error message 110003 Arc Supervision
is reported.
Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
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7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
Continued
Description
Error constant (ERRNO value)
Welding interrupted using the stop process input
AW_STOP_ERR
The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 202 ):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc supervision, within a predetermined time period, the process start
will be interrupted. When the process is started, all supervision inputs selected -
such as stop process, water supervision, gas supervision, arc supervision, volt
supervision, current supervision, wire supervision - are monitored continuously.
The wirestick status is checked at the start and end of the weld. Wirestick errors
are non-recoverable. That is, the welding process and motion can not be resumed
until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a multimove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *, v100, seam1, weld5 \Weave:=weave1, fine,
gun1\Wobj:=wobj1;
ArcL *, v100, seam1, weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcL *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcLEnd *, v100, seam1, weld3 \Weave:=weave3, fine,
gun1\Wobj:=wobj1;
MoveL ...
In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure. Note that an
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If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved linearly at a constant programmed speed. When
coordinated axes are used, the robot and the coordinated axes are moved
simultaneously, resulting in the programmed path and speed for the TCP
relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
Do not use double points, i.e. two consecutive robtargets with the same coordinates
(x,y,z) in the same weld. It will result in a short weld process stop with possible
weld defects. When the error occurs, the error message 110003 Arc Supervision
is reported.
Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
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Continued
Description
Error constant (ERRNO value)
Welding interrupted using the stop process input
AW_STOP_ERR
The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 202 ):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc supervision, within a predetermined time period, the process start
will be interrupted. When the process is started, all supervision inputs selected -
such as stop process, water supervision, gas supervision, arc supervision, volt
supervision, current supervision, wire supervision - are monitored continuously.
The wirestick status is checked at the start and end of the weld. Wirestick errors
are non-recoverable. That is, the welding process and motion can not be resumed
until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a multimove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *, v100, seam1, weld5 \Weave:=weave1, fine,
gun1\Wobj:=wobj1;
ArcL *, v100, seam1, weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcL *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcLEnd *, v100, seam1, weld3 \Weave:=weave3, fine,
gun1\Wobj:=wobj1;
MoveL ...
In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure. Note that an
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7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
Continued
arc welding instruction must be used to change the direction of the path despite
the fact that no weld data is changed.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcLEnd
MoveL
weld5, weave1
Movement without welding
Movement with welding
Start preparations
Direction of welding
weld3, weave3
ArcL
ArcL
xx1200000707
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
Limitations
ArcLEnd , ArcL1End , ArcL2End cannot be executed in an UNDO handler or RAPID
routine connected to any of the following special system events: PowerOn, Stop,
QStop, Restart, Reset or Step.
ArcLEnd cannot be executed in an UNDO handler or RAPID routine connected to
any of the following special system events: PowerOn, Stop, QStop, Restart, Reset
or Step.
Syntax
ArcLEnd
[ToPoint ':='] <expression ( IN ) of robtarget>
[Speed ':='] <expression ( IN ) of speeddata>
[Seam ':='] <persistent ( PERS ) of seamdata>
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':='] <persistent ( PERS ) of weavedata>','
[Zone ':='] <expression ( IN ) of zonedata>
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\'Corr ',']
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
['\' TrackOffsetFrame ':=' < expression ( IN ) of captrackoffsframe
> ]
['\' Time ':=' <expression ( IN ) of num>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
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Description
Error constant (ERRNO value)
Welding interrupted using the stop process input
AW_STOP_ERR
The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 202 ):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc supervision, within a predetermined time period, the process start
will be interrupted. When the process is started, all supervision inputs selected -
such as stop process, water supervision, gas supervision, arc supervision, volt
supervision, current supervision, wire supervision - are monitored continuously.
The wirestick status is checked at the start and end of the weld. Wirestick errors
are non-recoverable. That is, the welding process and motion can not be resumed
until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a multimove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *, v100, seam1, weld5 \Weave:=weave1, fine,
gun1\Wobj:=wobj1;
ArcL *, v100, seam1, weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcL *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcLEnd *, v100, seam1, weld3 \Weave:=weave3, fine,
gun1\Wobj:=wobj1;
MoveL ...
In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure. Note that an
Continues on next page
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7 RAPID reference
7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
Continued
arc welding instruction must be used to change the direction of the path despite
the fact that no weld data is changed.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcLEnd
MoveL
weld5, weave1
Movement without welding
Movement with welding
Start preparations
Direction of welding
weld3, weave3
ArcL
ArcL
xx1200000707
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
Limitations
ArcLEnd , ArcL1End , ArcL2End cannot be executed in an UNDO handler or RAPID
routine connected to any of the following special system events: PowerOn, Stop,
QStop, Restart, Reset or Step.
ArcLEnd cannot be executed in an UNDO handler or RAPID routine connected to
any of the following special system events: PowerOn, Stop, QStop, Restart, Reset
or Step.
Syntax
ArcLEnd
[ToPoint ':='] <expression ( IN ) of robtarget>
[Speed ':='] <expression ( IN ) of speeddata>
[Seam ':='] <persistent ( PERS ) of seamdata>
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':='] <persistent ( PERS ) of weavedata>','
[Zone ':='] <expression ( IN ) of zonedata>
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\'Corr ',']
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
['\' TrackOffsetFrame ':=' < expression ( IN ) of captrackoffsframe
> ]
['\' Time ':=' <expression ( IN ) of num>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
Continues on next page
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7 RAPID reference
7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
Continued
['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
['\' TLoad ':='] <persistent ( PERS ) of loaddata>]';'
Related information
Described in
Information
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
146
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7 RAPID reference
7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
Continued
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arc welding instruction must be used to change the direction of the path despite
the fact that no weld data is changed.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcLEnd
MoveL
weld5, weave1
Movement without welding
Movement with welding
Start preparations
Direction of welding
weld3, weave3
ArcL
ArcL
xx1200000707
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
Limitations
ArcLEnd , ArcL1End , ArcL2End cannot be executed in an UNDO handler or RAPID
routine connected to any of the following special system events: PowerOn, Stop,
QStop, Restart, Reset or Step.
ArcLEnd cannot be executed in an UNDO handler or RAPID routine connected to
any of the following special system events: PowerOn, Stop, QStop, Restart, Reset
or Step.
Syntax
ArcLEnd
[ToPoint ':='] <expression ( IN ) of robtarget>
[Speed ':='] <expression ( IN ) of speeddata>
[Seam ':='] <persistent ( PERS ) of seamdata>
[Weld ':='] <persistent ( PERS ) of welddata>
['\' Weave ':='] <persistent ( PERS ) of weavedata>','
[Zone ':='] <expression ( IN ) of zonedata>
[Tool ':='] <persistent ( PERS ) of tooldata>
['\' WObj ':=' <persistent ( PERS ) of wobjdata>]
['\'Corr ',']
|['\' Track ':=' <persistent ( PERS ) of trackdata>]
['\' TrackOffsetFrame ':=' < expression ( IN ) of captrackoffsframe
> ]
['\' Time ':=' <expression ( IN ) of num>]
['\' T1 ':=' <variable ( VAR ) of triggdata>]
['\' T2 ':=' <variable ( VAR ) of triggdata>]
['\' T3 ':=' <variable ( VAR ) of triggdata>]
['\' T4 ':=' <variable ( VAR ) of triggdata>]
Continues on next page
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7 RAPID reference
7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
Continued
['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
['\' TLoad ':='] <persistent ( PERS ) of loaddata>]';'
Related information
Described in
Information
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
146
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7 RAPID reference
7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
Continued
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Usage
ArcLStart is used to weld along a straight seam. The instruction controls and
monitors the entire welding process as follows:
•
The tool center point (TCP) is moved linearly to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The instruction ArcLStart is used for start preparations, for example gas purging,
that are carried out on the way to the weld start position.
The only difference between ArcLStart , ArcL1Start and ArcL2Startis is that
they are connected to different arc weld systems configured in the system
parameters. Although ArcLStart is used in the examples, ArcL1Start or
ArcL2Start could equally well be used.
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
A weld can start either with a non moving TCP or with a moving TCP (flying start).
In both cases the weld will start to ignite as close as possible to the start point, but
in the flying start case the TCP will have moved away from the point due to speed
and ignition time before the actual weld begins.
Example
MoveJ ...
ArcLStart p1, v100, seam1, weld5, fine, gun1;
ArcLEnd p2, v100, seam1, weld5, fine, gun1;
MoveJ ...
This welds a straight seam between points p1 and p2, as illustrated in the following
figure.
xxxx xx
xxxxx
MoveJ
ArcLStart
ArcLEnd
MoveJ
p1
p2
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000705
Continues on next page
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7 RAPID reference
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
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['\' T5 ':=' <variable ( VAR ) of triggdata>]
['\' T6 ':=' <variable ( VAR ) of triggdata>]
['\' T7 ':=' <variable ( VAR ) of triggdata>]
['\' TLoad ':='] <persistent ( PERS ) of loaddata>]';'
Related information
Described in
Information
ArcL, ArcL1, ArcL2 - Arc welding with linear
motion on page 129
Performing a linear weld
Technical reference manual - RAPID Over-
view
Other positioning instructions
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of speed, speeddata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of zone data, zonedata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of tools, tooldata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of work objects, wobjdata
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
MoveL
Technical reference manual - RAPID Instruc-
tions, Functions and Data types
Definition of loads, loaddata
seamdata - Seam data on page 176
Definition of seam data
welddata - Weld data on page 195
Definition of weld data
weavedata - Weave data on page 188
Definition of weave data
System parameters on page 201
Installation parameters for welding equipment
and welding functions
Technical reference manual - RAPID Over-
view
Movements in general
Technical reference manual - RAPID Over-
view
Coordinate systems
Programming on page 21
Process phases and sub-activities
Application manual - Controller software IRC5
Path Offset
Operating manual - Tracking and searching
with optical sensors
Using optical sensors for tracking or search-
ing.
146
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7 RAPID reference
7.1.5 ArcLEnd, ArcL1End, ArcL2End - Arc welding end with linear motion
Continued
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Usage
ArcLStart is used to weld along a straight seam. The instruction controls and
monitors the entire welding process as follows:
•
The tool center point (TCP) is moved linearly to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The instruction ArcLStart is used for start preparations, for example gas purging,
that are carried out on the way to the weld start position.
The only difference between ArcLStart , ArcL1Start and ArcL2Startis is that
they are connected to different arc weld systems configured in the system
parameters. Although ArcLStart is used in the examples, ArcL1Start or
ArcL2Start could equally well be used.
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
A weld can start either with a non moving TCP or with a moving TCP (flying start).
In both cases the weld will start to ignite as close as possible to the start point, but
in the flying start case the TCP will have moved away from the point due to speed
and ignition time before the actual weld begins.
Example
MoveJ ...
ArcLStart p1, v100, seam1, weld5, fine, gun1;
ArcLEnd p2, v100, seam1, weld5, fine, gun1;
MoveJ ...
This welds a straight seam between points p1 and p2, as illustrated in the following
figure.
xxxx xx
xxxxx
MoveJ
ArcLStart
ArcLEnd
MoveJ
p1
p2
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000705
Continues on next page
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7 RAPID reference
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
On the way to p1 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p1
and end at p2 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Arguments
ArcLStart ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool [\WObj]
[\Corr] [\Track] [\PreProcessTracking] [\SeamName] [\T1] [\T2]
[\T3] [\T4] [\T5] [\T6] [\T7] [\TLoad] [\FlyStart]
ToPoint
Data type: robtarget
The destination position of the robot and additional axes. This is either defined as
a named position or stored directly in the instruction (indicated by an * in the
instruction).
[\ID]
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcLStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
xxxx xx
xxxxx
MoveJ
ArcLStart
ArcLEnd
MoveJ
p1
p2
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000705
Continues on next page
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7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
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7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Usage
ArcLStart is used to weld along a straight seam. The instruction controls and
monitors the entire welding process as follows:
•
The tool center point (TCP) is moved linearly to the specified destination
position.
•
All phases of the welding process, such as the start and end phases, are
controlled.
•
The welding process is monitored continuously.
The instruction ArcLStart is used for start preparations, for example gas purging,
that are carried out on the way to the weld start position.
The only difference between ArcLStart , ArcL1Start and ArcL2Startis is that
they are connected to different arc weld systems configured in the system
parameters. Although ArcLStart is used in the examples, ArcL1Start or
ArcL2Start could equally well be used.
If a weld seam is programmed without an ArcXStart instruction, ArcLStart or
ArcCStart , there is an error message. When the error message has been
acknowledged, the program execution in that task is stopped.
A weld can start either with a non moving TCP or with a moving TCP (flying start).
In both cases the weld will start to ignite as close as possible to the start point, but
in the flying start case the TCP will have moved away from the point due to speed
and ignition time before the actual weld begins.
Example
MoveJ ...
ArcLStart p1, v100, seam1, weld5, fine, gun1;
ArcLEnd p2, v100, seam1, weld5, fine, gun1;
MoveJ ...
This welds a straight seam between points p1 and p2, as illustrated in the following
figure.
xxxx xx
xxxxx
MoveJ
ArcLStart
ArcLEnd
MoveJ
p1
p2
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000705
Continues on next page
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7 RAPID reference
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
On the way to p1 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p1
and end at p2 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Arguments
ArcLStart ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool [\WObj]
[\Corr] [\Track] [\PreProcessTracking] [\SeamName] [\T1] [\T2]
[\T3] [\T4] [\T5] [\T6] [\T7] [\TLoad] [\FlyStart]
ToPoint
Data type: robtarget
The destination position of the robot and additional axes. This is either defined as
a named position or stored directly in the instruction (indicated by an * in the
instruction).
[\ID]
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcLStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
xxxx xx
xxxxx
MoveJ
ArcLStart
ArcLEnd
MoveJ
p1
p2
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000705
Continues on next page
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7 RAPID reference
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Seam
Data type: seamdata
Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position.
In the case of a fly-by point, a corner path is generated past that position. In the
case of a stop point ( fine ), the movement is interrupted until all axes have reached
the programmed point.
A stop point ( fine ) is always generated automatically at the start position of a
weld if the parameter \flyStart is not used, and at a controlled weld end position.
Fly-by points, such as z10 , should be used for all other weld positions.
A stop point ( fine ) is always generated automatically at the start position of a
weld and at a controlled weld end position if flying start is deactivated. Fly-by
points, such as z10 , should be used for all other weld positions.
Weld data changes over to the next arc welding instruction at the center point of
the corner path.
Tool
Data type: tooldata
The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.
[\WObj]
Data type: wobjdata
The work object (coordinate system) to which the instruction’s robot position is
referenced. When this argument is omitted, the robot position is referenced to the
Continues on next page
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7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
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On the way to p1 , preparations for the weld start, such as gas preflowing, are
carried out. The process and the actual weld movement then start at position p1
and end at p2 . The start and end processes are determined by seam1 and the
welding process by weld5 .
Arguments
ArcLStart ToPoint [\ID] Speed Seam Weld [\Weave] Zone Tool [\WObj]
[\Corr] [\Track] [\PreProcessTracking] [\SeamName] [\T1] [\T2]
[\T3] [\T4] [\T5] [\T6] [\T7] [\TLoad] [\FlyStart]
ToPoint
Data type: robtarget
The destination position of the robot and additional axes. This is either defined as
a named position or stored directly in the instruction (indicated by an * in the
instruction).
[\ID]
Data type: identno
The argument [ \ID ] is mandatory in MultiMove systems, if the movement is
synchronized or coordinated synchronized. This argument is not allowed in any
other case. The specified id number must be the same in all the cooperating
program tasks. By using the id number the movements are not mixed up at the
runtime.
Speed
Data type: speeddata
The speed of the TCP is controlled by the argument Speed in the following cases:
•
When the ArcLStart instruction is used.
•
When the program is run instruction-by-instruction (no welding).
The speed of the TCP during welding is the same as for the arguments Seam and
Weld . In the figure below, the speed is defined by the Speed argument in the
respective instructions.
xxxx xx
xxxxx
MoveJ
ArcLStart
ArcLEnd
MoveJ
p1
p2
Movement without welding
Movement with welding
Start preparations
Direction of welding
xx1200000705
Continues on next page
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7 RAPID reference
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Seam
Data type: seamdata
Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position.
In the case of a fly-by point, a corner path is generated past that position. In the
case of a stop point ( fine ), the movement is interrupted until all axes have reached
the programmed point.
A stop point ( fine ) is always generated automatically at the start position of a
weld if the parameter \flyStart is not used, and at a controlled weld end position.
Fly-by points, such as z10 , should be used for all other weld positions.
A stop point ( fine ) is always generated automatically at the start position of a
weld and at a controlled weld end position if flying start is deactivated. Fly-by
points, such as z10 , should be used for all other weld positions.
Weld data changes over to the next arc welding instruction at the center point of
the corner path.
Tool
Data type: tooldata
The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.
[\WObj]
Data type: wobjdata
The work object (coordinate system) to which the instruction’s robot position is
referenced. When this argument is omitted, the robot position is referenced to the
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7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
world coordinate system. It must, however, be specified if a stationary TCP or
coordinated additional axes are used.
\WObj can be used if a coordinate system is defined for either the object in question
or the weld seam.
[\Corr]
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position, if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[\Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcL instruction, but
deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires the Optical tracking or WeldGuide options.
[\PreProcessTracking]
Data type: switch
This argument is effective only if first_instruction is set to TRUE and the
\Track argument is present.
This argument activates Pre Process Tracking , which means that the robot will be
tracking only, without process, during that CapX instruction. Thereby sensor data
are available for successful tracking right off the start of the path with process, e.g.
welding.
For more information see Operating manual - Tracking and searching with optical
sensors .
[\SeamName]
Data type: string
The seam name is a string which will be added to error logs if an error occurs
during the welding sequence. \SeamName is only applicable together with the
ArcLStart instruction.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO , TriggIO , TriggEquip or TriggInt .
[\TLoad]
Data type: loaddata
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Continued
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Speed data also describes the speed of the tool’s reorientation and the speed of
any uncoordinated additional axes.
Seam
Data type: seamdata
Seam data describes the start and end phases of a welding process. The argument
Seam is included in all arc welding instructions so that, regardless of the position
of the robot when the process is interrupted, a proper weld end and restart is
achieved. Normally the same seam data is used in all instructions of a seam.
Weld
Data type: welddata
Weld data describes the weld phase of the welding process.
Weld data is often changed from one instruction to the next along a seam.
[\Weave]
Data type: weavedata
Weave data describes the weaving that is to take place during the heat and weld
phases. Welding without weaving is obtained by not specifying any weavedata in
the instruction.
Zone
Data type: zonedata
Zone data defines how close the axes must be to the programmed position before
they can start moving towards the next position.
In the case of a fly-by point, a corner path is generated past that position. In the
case of a stop point ( fine ), the movement is interrupted until all axes have reached
the programmed point.
A stop point ( fine ) is always generated automatically at the start position of a
weld if the parameter \flyStart is not used, and at a controlled weld end position.
Fly-by points, such as z10 , should be used for all other weld positions.
A stop point ( fine ) is always generated automatically at the start position of a
weld and at a controlled weld end position if flying start is deactivated. Fly-by
points, such as z10 , should be used for all other weld positions.
Weld data changes over to the next arc welding instruction at the center point of
the corner path.
Tool
Data type: tooldata
The tool used in the movement. The TCP of the tool is the point moved to the
specified destination position. The z-axis of the tool should be parallel with the
torch.
[\WObj]
Data type: wobjdata
The work object (coordinate system) to which the instruction’s robot position is
referenced. When this argument is omitted, the robot position is referenced to the
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7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
world coordinate system. It must, however, be specified if a stationary TCP or
coordinated additional axes are used.
\WObj can be used if a coordinate system is defined for either the object in question
or the weld seam.
[\Corr]
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position, if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[\Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcL instruction, but
deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires the Optical tracking or WeldGuide options.
[\PreProcessTracking]
Data type: switch
This argument is effective only if first_instruction is set to TRUE and the
\Track argument is present.
This argument activates Pre Process Tracking , which means that the robot will be
tracking only, without process, during that CapX instruction. Thereby sensor data
are available for successful tracking right off the start of the path with process, e.g.
welding.
For more information see Operating manual - Tracking and searching with optical
sensors .
[\SeamName]
Data type: string
The seam name is a string which will be added to error logs if an error occurs
during the welding sequence. \SeamName is only applicable together with the
ArcLStart instruction.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO , TriggIO , TriggEquip or TriggInt .
[\TLoad]
Data type: loaddata
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7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
[\FlyStart]
Data type: flystartdata
If the weld shall start with a moving TCP it has to be activated via the parameter
active within the flystartdata . The supervision for the ignition is different than
for a standing still start. If no ignition has occurred within superv_distance from
the starting zone a supervision error will occur.
When using flying start the start point must be a zone.
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved linearly at a constant programmed speed. When
coordinated axes are used, the robot and the coordinated axes are moved
simultaneously, resulting in the programmed path and speed for the TCP
relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
Do not use double points, i.e. two consecutive robtargets with the same coordinates
(x,y,z) in the same weld. It will result in a short weld process stop with possible
weld defects. When the error occurs, the error message 110003 Arc Supervision
is reported.
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Continued
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world coordinate system. It must, however, be specified if a stationary TCP or
coordinated additional axes are used.
\WObj can be used if a coordinate system is defined for either the object in question
or the weld seam.
[\Corr]
Data type: switch
Correction data written to a corrections entry by the instruction CorrWrite will be
added to the path and destination position, if this argument is present.
The RobotWare option Path Offset is required when using this argument.
[\Track]
Data type: trackdata
Trackdata is used and is only applicable when the system is configured for seam
tracking with a serial weld guide system or with a Laser Tracker system. Seam
tracking is activated when this argument is included in the ArcL instruction, but
deactivated if it is omitted. The optional trackdata argument must be used during
the whole weldseam, that is, from the ArcXStart to the ArcXEnd instruction.
Note
Seam tracking requires the Optical tracking or WeldGuide options.
[\PreProcessTracking]
Data type: switch
This argument is effective only if first_instruction is set to TRUE and the
\Track argument is present.
This argument activates Pre Process Tracking , which means that the robot will be
tracking only, without process, during that CapX instruction. Thereby sensor data
are available for successful tracking right off the start of the path with process, e.g.
welding.
For more information see Operating manual - Tracking and searching with optical
sensors .
[\SeamName]
Data type: string
The seam name is a string which will be added to error logs if an error occurs
during the welding sequence. \SeamName is only applicable together with the
ArcLStart instruction.
[\T1] [\T2] [\T3] [\T4] [\T5] [\T6] [\T7]
Data type: triggdata
Variables that refer to trigger conditions and trigger activity, defined earlier in the
program using the instructions TriggRampAO , TriggIO , TriggEquip or TriggInt .
[\TLoad]
Data type: loaddata
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7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
[\FlyStart]
Data type: flystartdata
If the weld shall start with a moving TCP it has to be activated via the parameter
active within the flystartdata . The supervision for the ignition is different than
for a standing still start. If no ignition has occurred within superv_distance from
the starting zone a supervision error will occur.
When using flying start the start point must be a zone.
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved linearly at a constant programmed speed. When
coordinated axes are used, the robot and the coordinated axes are moved
simultaneously, resulting in the programmed path and speed for the TCP
relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
Do not use double points, i.e. two consecutive robtargets with the same coordinates
(x,y,z) in the same weld. It will result in a short weld process stop with possible
weld defects. When the error occurs, the error message 110003 Arc Supervision
is reported.
Continues on next page
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7 RAPID reference
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
Flying start
When using flying start the system will trigger the ignition when the TCP passes
the starting point. The TCP will be moving and it will change to welding speed as
close as possible to the zone centre. Due to the movement the actual position for
the start point of the weld will be some distance away from the starting point. That
distance is a result of the welding speed and the ignition time of the actual welder.
Flying start cannot be used it in combination with Ignition Movement Delay or a
Scrape Start . The starting point must be a zone.
Flying start ignores the PRE supervision phase. Instead there is a ignition
supervision distance that is given with the parameter superv_distance . If no
ignition has occurred within that distance an ignition error will raise.
Flying start can be deactivated by setting the parameter active to false. By doing
so the start will be treated as a normal weld start with a stopping TCP. The zone
point will be automatic changed to a stop point ( fine ).
Flying start will not be used when restarting after an ignition error or any other
weld error.
Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
Welding interrupted using the stop process input
AW_STOP_ERR
The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 202 ):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc supervision, within a predetermined time period, the process start
will be interrupted. When the process is started, all supervision inputs selected -
such as stop process, water supervision, gas supervision, arc supervision, volt
supervision, current supervision, wire supervision - are monitored continuously.
Continues on next page
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7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
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The \TLoad argument describes the total load used in the movement. The total
load is the tool load together with the payload that the tool is carrying. If the \TLoad
argument is used, then the loaddata in the current tooldata is not considered.
If the \TLoad argument is set to load0, then the \TLoad argument is not considered
and the loaddata in the current tooldata is used instead. For a complete
description of the \TLoad argument, see MoveL - Moves the robot linearly .
[\FlyStart]
Data type: flystartdata
If the weld shall start with a moving TCP it has to be activated via the parameter
active within the flystartdata . The supervision for the ignition is different than
for a standing still start. If no ignition has occurred within superv_distance from
the starting zone a supervision error will occur.
When using flying start the start point must be a zone.
Program execution
Controlling process equipment
The process equipment is controlled by the robot in such a way that the entire
process and each of its phases are coordinated with the robot’s movements.
Motion
Robot and additional axes are moved to the destination position as follows:
•
The TCP of the tool is moved linearly at a constant programmed speed. When
coordinated axes are used, the robot and the coordinated axes are moved
simultaneously, resulting in the programmed path and speed for the TCP
relative to the work object.
•
The tool is reorientated at even intervals throughout the entire course.
•
Uncoordinated additional axes are executed at a constant speed which means
that they reach their destination at the same time as the robot axes.
If the programmed speed of reorientation or of the additional axes is exceeded,
these speeds will be limited, thereby reducing the speed of the TCP.
The destination position is referenced to the:
•
Specified object coordinate system if the argument \WObj is used;
•
World coordinate system if the argument \WObj is not used.
Limitations
When weaving, the distance between the programmed positions should be longer
than the periodic time of weaving. If the distance is shorter and if there is a
significant change of angle in the path, the weaving pattern will be distorted.
Do not use double points, i.e. two consecutive robtargets with the same coordinates
(x,y,z) in the same weld. It will result in a short weld process stop with possible
weld defects. When the error occurs, the error message 110003 Arc Supervision
is reported.
Continues on next page
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7 RAPID reference
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
Flying start
When using flying start the system will trigger the ignition when the TCP passes
the starting point. The TCP will be moving and it will change to welding speed as
close as possible to the zone centre. Due to the movement the actual position for
the start point of the weld will be some distance away from the starting point. That
distance is a result of the welding speed and the ignition time of the actual welder.
Flying start cannot be used it in combination with Ignition Movement Delay or a
Scrape Start . The starting point must be a zone.
Flying start ignores the PRE supervision phase. Instead there is a ignition
supervision distance that is given with the parameter superv_distance . If no
ignition has occurred within that distance an ignition error will raise.
Flying start can be deactivated by setting the parameter active to false. By doing
so the start will be treated as a normal weld start with a stopping TCP. The zone
point will be automatic changed to a stop point ( fine ).
Flying start will not be used when restarting after an ignition error or any other
weld error.
Error handling
The process is supervised by a number of signal inputs. If anything abnormal is
detected, program execution will stop. If, however, an error handler is programmed,
the errors defined below can be remedied without stopping production. See the
example in the instruction RestoPath .
Description
Error constant (ERRNO value)
Start condition error; torch, gas or water supervision
AW_START_ERR
Ignition error; arc supervision
AW_IGNI_ERR
Weld error; arc supervision
AW_WELD_ERR
Weld equipment error; voltage, current, water or gas
supervision during welding
AW_EQIP_ERR
Wire stick error; wire stick supervision
AW_WIRE_ERR
Welding interrupted using the stop process input
AW_STOP_ERR
The process supervision is determined by a part of the process equipment
configuration.
At the start of the process the robot checks that the following preconditions have
been met, that is, the following signals are set as follows (see Defining arc welding
systems on page 202 ):
•
Stop process: low
•
Water supervision: high
•
Gas supervision: high
•
Torch supervision: high
If, after the start command is given, no approved start profile is indicated on the
digital input, arc supervision, within a predetermined time period, the process start
will be interrupted. When the process is started, all supervision inputs selected -
such as stop process, water supervision, gas supervision, arc supervision, volt
supervision, current supervision, wire supervision - are monitored continuously.
Continues on next page
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7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
The wirestick status is checked at the start and end of the weld. Wirestick errors
are non-recoverable. That is, the welding process and motion can not be resumed
until the wirestick error is corrected.
Note
Only supervision errors resulting in the error constants AW_IGNI_ERR and
AW_WELD_ERR will have automatic retries (if configured). The other error constants
are considered non-recoverable. On AW_WIRE_ERR there will be no automatic
MoveOut movement (if configured). In a multimove system, when running
synchronized welding, there will be no automatic MoveOut movement (if
configured) in any of the synchronized robots, if there is an active wirestick error
in any of the synchronized robots.
Example
MoveL ...
ArcLStart *, v100, seam1, weld5 \Weave:=weave1, fine,
gun1\Wobj:=wobj1;
ArcL *, v100, seam1, weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcL *, v100, seam1,weld5 \Weave:=weave1, z10, gun1\Wobj:=wobj1;
ArcLEnd *, v100, seam1, weld3 \Weave:=weave3, fine,
gun1\Wobj:=wobj1;
MoveL ...
In this example, a weld is performed in which weld data and weave data are changed
in the final part of the weld, which is illustrated in the following figure. Note that an
arc welding instruction must be used to change the direction of the path despite
the fact that no weld data is changed.
x x x x x x
xxxxx
MoveL
ArcLStart
ArcLEnd
MoveL
weld5, weave1
Movement without welding
Movement with welding
Start preparations
Direction of welding
weld3, weave3
ArcL
ArcL
xx1200000707
It is assumed, in this example, that a coordinated additional axis is used in the
movement. In this case, the wobj1 work object must be specified in the instruction.
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7 RAPID reference
7.1.6 ArcLStart, ArcL1Start, ArcL2Start - Arc welding start with linear motion
Continued
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