SETUP WEAVE SCREEN


SETUP WEAVE SCREEN

Weave Setup allows you to adjust the parameters that control weaving. For most applications, the default settings should be fine and there is no reason to change them.

Table 1.  Weave Setup Items

item Description

Weave enable group mask

This item enables weaving on multi-group systems. Only robot motion groups can be enabled to weave. If there are multiple robots in your system, the weave enable group mask will be automatically set for each robot group during installation.

Dwell delay type

This item allows the arc welding system to use either a stop dwell delay or a move dwell delay. Dwell delay increases weld penetration at the joint sidewalls during weaving. The stop dwell delay causes the robot to cease all motion at the weave peak for the length of time specified by the weave schedule. Note that Stop Dwell Delay is supported for Multi-group Coordinated motion, but it is not supported for Multi-group non-Coordinated motion.

The move dwell delay causes the robot to cease lateral motion but continue forward motion at the weave peak for the length of time specified by the weave schedule.

Frame type

This item allows you to set the reference frame that the arc welding system uses to define the weave frame. Weaving always uses the TOOL frame as its reference frame. However, you can choose to use the tool data or the tool&path data.

The tool&path is the most commonly used reference frame. This reference frame is especially helpful when weaving around a corner, because the weave stays parallel to the y-vector of the tool. Tool&path uses x defined by the path motion and z defined by the tool frame. y is perpendicular to both x and z.

Use of the tool as a reference frame is important for welding with simultaneous table motion that requires the weave to be relative to the moving part. For example, if you are welding a cylindrical part that is rotating, your weld is actually a spiral. In this case, you do not want to use the path of the robot to weld, because you want the weld to follow the surface of the part. Tool uses the x, y, and z defined by the tool.

Elevation

This item allows you to change the angle of the y component of the weave vector with respect to the weave frame xy-plane. This allows you to change the weaving plane without changing tool orientation about the x-axis. For example, setting elevation to 90 wil cause the weave motion in the tool Z direction (up and down).

 

Azimuth

This item allows you to enter the angle between the y component of a weave vector and the weave frame y-axis. This allows you to change the angle of the weave if you cannot rotate the tool. This changes the y alignment relative to x.

 

Center Rise

This item allows you to specify the distance, in millimeters, that the weave vector will raise above the plane of the weave.

Radius

This item allows you to specify the weaving distance for circular weaving. Radius provides a means to elongate the circle. Radius is only valid for circular weaving. If the radius is set to zero, the arc welding system uses amplitude only to specify the weaving distance. This results in a more rounded circle.

Blend weave end

This item allows you to set whether the weave between segments of the weld (taught positions) is smooth. If set to ON, the weave maintains a regular pattern from the weave start to the weave end and can not pass through every taught point. The OFF setting would be typically used for weaving around sharp corners.

Robot group This item allows you to select the robot group whose peak output parameters can be displayed and configured.

Peak output port DO

This item allows you to assign a digital output signal. If assigned, a digital output signal will be sent to the weld interface and power supply at each weave peak. For multi-group weaving, a separate port DO can be assigned for each group.

Peak output pulse

This item allows you to set the pulse length, in seconds, of the peak output port DO signal. For multi-group weaving, a separate peak output pulse can be assigned for each group.

Peak output shift

This item allows you to shift forward, in seconds, the peak output port DO. You might need to shift forward the signal due to robot deceleration. For multi-group weaving, a separate peak output shift time can be assigned for each group.