Table 1. TAST Setup Condition SCHEDULE Screen
CONDITION | DESCRIPTION |
---|---|
V-Gain-L |
This item displays and allows you to change the vertical and lateral gain independently. When using both, adjust within 2%. |
V_Cur(A) |
This item displays and allows you to change the vertical current reference value. |
V-Bias(%)-L |
This item displays and allows you to change the vertical and lateral bias independently. |
Table 2. TAST Setup Conditions DETAIL Screen
CONDITION | DESCRIPTION |
---|---|
TAST Schedule:[n] |
This item indicates the schedule whose information is currently being displayed and allows you to change to a different schedule. |
TAST schedule: [ ] |
This item allows you to enter a comment for this schedule. |
V_compensation enable default: TRUE |
This item allows you to enable or disable TAST tracking
in the vertical direction (z plane). If both L_compensation enable and V_compensation
enable are disabled, TAST is non-functional.
|
L_compensation enable default: TRUE |
This item allows you to enable or disable TAST tracking
in the lateral direction (xy-plane). If both L_compensation enable and V_compensation
enable are disabled, TAST is non-functional.
|
V_master current type (feedback/constant) default: FEEDBACK |
This item allows you to specify the weld current that
TAST uses to compare the tracking data.
|
Sampling timing (no WV) default: 0.5 sec min: 0.0 sec max: 99.99 sec |
This item allows you to set the length of time in seconds that the arc welding system will sample the current feedback. This is used for tracking without weaving only. If you are weaving, the arc welding system samples the current every weave cycle. This can only be used for vertical tracking without weaving. |
Comp frame (no WV) default: TOOL |
This item allows you to specify the frame, either
Tool or User, which will be used as the reference frame when tracking vertically
without weaving. This frame must be accurately defined for TAST to function
correctly. If you are weaving, the value of frame type on the SETUP Weave
screen determines the reference frame.
|
V_compensation gain (sensitivity) default: 20.0 min: 0 max: 99.999 |
This item allows you to specify the conversion scale that TAST uses to convert the incoming amperage to millimeters per 10 amperes (mm/10A) and for vertical tracking. The default value is 25. If V_compensation gain enable is set to 0, vertical tracking is disabled. |
V_dead band default: 0 mm min: 0 mm max: 999.9 mm |
This item allows you to specify an amount of data, in millimeters, which TAST will ignore before generating an offset. If the V_dead band value is set to 0.5 mm, TAST will not generate an offset until the required offset exceeds 0.5 mm. V_dead band is used for arc welding systems that have unstable feedback conditions. See Figure 1, "Dead Band for Vertical Tracking " . |
V_bias rate (up +) default: 0 min: -99.9 max: 99.9 |
This item allows you to set the percentage that the offset will compensate closer to or further away from the workpiece. If this value is set to a negative percentage, the offset will be towards the workpiece. If this value is set to a positive percentage, the offset will be away from the workpiece. |
V_tracking limit default: 600.0 mm min: 0 mm max: 9999.9 mm |
This item allows you to set the length, in millimeters, that TAST will compensate vertically. If the weld extends beyond this length, TAST will not make any vertical corrections. If this value is set to 0, vertical tracking is disabled. |
V_tracking limit per cycle default: 0.4 mm min: 0 mm max: 9999.9 mm |
This item allows you to specify the length, in millimeters, that TAST will compensate vertically per weave cycle. |
V_compensation start count default: 5 min: 2 max: 999 |
This item allows you to specify the weave cycle number for TAST to start tracking the weld vertically. This allows time for the arc to stabilize prior to tracking. If the value is set to less than 4, the value is ignored and the system starts to track on the third cycle. |
V_master sampling start count (feedback) default: min: 2 max: 999 |
This item allows you to specify at which weave cycle TAST will start collecting the reference sample. This allows the arc enough time to stabilize before recording the sample data. |
V_mastering sampling count (feedback) default: 1 min: 1 max: 999 |
This item allows you to specify the number of weave cycles for which the arc welding system will collect the reference weld current sample for vertical tracking. |
V_master current constant data (constant) default: min: 0 max: 999.9 |
This item allows you to specify a constant weld current value which is used as the reference weld current sample instead of using feedback from the system. When V_master current type is specified as CONSTANT, then TAST will use this value. |
L_compensation gain (sensitivity) default: 15.0 min: 0 max: 99.999 |
This item allows you to specify the conversion scale TAST uses to convert the incoming amperage to millimeters per 10 amperes (mm/10A) for lateral tracking. The default value is 25. If L_compensation gain enable is set to 0, lateral tracking is disabled. |
L_dead band default: 0 min: 0 max: 999.9 |
This item allows you to specify an amount of data, in millimeters, which TAST will ignore before generating an offset. If the L_dead band value is set to 0.5 mm, TAST will not generate an offset until the required offset exceeds 0.5 mm. L_dead band is used for arc welding systems that have unstable feedback conditions. |
L_bias rate (right +) default: 0 min: -99.9 max: 99.9 |
This item allows you to set the percentage that the offset will compensate towards the left or right side. If this value is set to a negative percentage, the offset will be towards the left side of the weld when looking in the direction of travel. If this value is set to a positive percentage, the offset will be towards the right side of the weld. Left and right directions are relative to robot tip travel direction. |
L_tracking limit default: 600.0 mm min: 0 mm max: 9999.9 mm |
This item allows you to set the length, in millimeters, that TAST will track the weld laterally. If the weld extends beyond this length, TAST will not make any lateral corrections. If this value is set to 0, lateral tracking is disabled. |
L_tracking limit per cycle default: .04mm min: 0 mm max: 9999.9 mm |
This item allows you to specify the length, in millimeters, that TAST will compensate vertically per weave cycle. |
L_compensation start count default: 5 min: 2 max: 999 |
This item allows you to specify the weave cycle number for TAST to start tracking the weld laterally. This allows time for the arc to stabilize prior to tracking. If the value is set to less than 3, the value is ignored and the system starts to track on the third cycle. |
Motion group number default: 1 min: 1 max: 3 |
This item allows you to specify the motion group that is actually doing the welding. If you do not have multiple motion groups, set this to 1. |
Adjust delay time default:.10 single motion group: .14sec multi motion groups: .14sec min: .01 sec max: 9.99 sec |
This item is automatically set when TAST is installed. The default value for single motion and multiple motion group is set at the time of software installation. |
Adaptive Gain Control |
TAST checks the direction of vertical or lateral calculated compensation value (up/down or right/left) for each cycle. If the check determines the compensation value uses the same direction multiple times, then this indicates the offset is still smaller than the actual value. Adaptive gain allows you to set a value that is multiplied times the gain value. The applied offset is larger than normal and the torch can return to the weld center faster. |
V_AG_correction count(0: disable) default: 0 cyc min: 0 max: 99 |
This item allows you to specify the weave cycle in which the adaptive gain control begins checking the vertical compensation direction. The vertical adaptive gain function is effective if the calculated compensation values tend to be biased one way, either up or down. If the V_AG correction count is set to 0, it is disabled. The vertical adaptive gain function is enabled when the V_AG correction count is set to 2 or higher. |
L_AG_correction count(0: disable) default: 0 cyc min: 0 max: 99 |
This item allows you to specify the weave cycle in which the adaptive gain control begins checking the lateral compensation direction. The lateral adaptive gain function is effective if the calculated compensation values tend to be biased to one side, either left or right. If the L_AG correction count is set to 0, it is automatically disabled. The lateral adaptive gain function is enabled when the L_AG correction count is set to 2 or higher. |
V_AG_correction band default: 4.0 min: 0 max: 9.9 |
This item allows you to specify the amount of data to which the lateral adaptive gain function compares the calculated lateral compensation. If the value is set to a small amount, the adaptive gain is disabled until the required offset exceeds the set value. A value of over 6.0 is required when using a small circular weld or when the weld is not stable. |
L_AG_correction band default: 4.0 min: 0 max: 9.9 |
This item allows you to specify the amount of data to which the lateral adaptive gain function compares the calculated lateral compensation. If the value is set to a small amount, the adaptive gain is disabled until the required offset exceeds the set value. A value of over 6.0 is required when using a small circular weld or when the weld is not stable. |
V_AG_multiplier default: 1.5 min: 1.0 max: 9.9 |
This item specifies the multiplier for vertical adaptive gain. |
L_AG_multiplier default: 1.5 min: 1.0 max: 9.9 |
This item specifies the multiplier when lateral adaptive gain. |