app_weld_weave_cond_trapezoidal

Features

This function sets the trapezoidal weaving conditions. These conditions are only valid within the welding section defined from weld activation (app_weld_enable_analog()/app_weld_enable_digital()) to deactivation (app_weld_disable_analog()/app_weld_disable_digital()), and an error will occur if executed outside of this section.

Weaving conditions are defined in the weave coordinate system, where the direction of the weld path is the weave x-axis, and the direction of the vector product (cross-product) of the weave x-axis and the TCP-z direction is the weave y-axis. Refer to the figure below for the coordinate system and weave setting parameters.

새 창에서 열기

Weaving Coordinate System and Parameters

Only one weaving condition is allowed within a single welding section. During welding, you can adjust the offset or weaving width using the app_weld_adj_welding_cond_analog()/app_weld_set_weld_cond_digital() command, or adjust the (voltage/current/speed and) offset from the welding condition adjustment popup on the teaching pendant. However, adjusting the welding conditions from the teaching pendant is only possible when the welding condition adjustment state is RESET (i.e., the welding condition setting specified by app_weld_set_weld_cond_analog()/app_weld_set_weld_cond_digital()).

Arguments

Argument Name

Data Type

Default Value

Description

wv_offset

float[2]

[0, 0]

[0] Weave coordinate system, y-direction offset (mm)

[1] Weave coordinate system, z-direction offset (mm)

wv_angle

float

0

Rotation angle of the weaving plane with respect to the weave coordinate system - x-axis (deg)

wv_param

list(float[10])

[0, 1.5, 0, -1.5, 0.3, 0.1, 0.3, 0.3, 0.1, 0.3]

[0] Weaving point 1 - x (mm)

[1] Weaving point 1 - y (mm)

[2] Weaving point 2 - x (mm)

[3] Weaving point 2 - y (mm)

[4] Weaving point 1 → 2 time (sec)

[5] Weaving point 1 → 2 acceleration/deceleration time (sec)

[6] Weaving point 1 dwell time (sec)

[7] Weaving point 2 → 1 time (sec)

[8] Weaving point 2 → 1 acceleration/deceleration time (sec)

[9] Weaving point 2 dwell time (sec)

Return

Value	Description
0	Error
1	Success

Example

CODE

CONFIG_TRAPEZOID_WEAVING_SETTING weaving_trap;

weaving_trap._fOffsetY = 0;
weaving_trap._fOffsetZ = 0;
weaving_trap._fGradient = 0;
weaving_trap._fwPT1[0] = 0;
weaving_trap._fwPT1[1] = 3;
weaving_trap._fwPT2[0] = 0;
weaving_trap._fwPT2[1] = -3;
weaving_trap._fwT1 = 0.3;
weaving_trap._fwTAcc1 = 0.1;
weaving_trap._fwTTD1 = 0.2;
weaving_trap._fwT2 = 0.3;
weaving_trap._fwTAcc2 = 0.1;
weaving_trap._fwTTD2 = 0.2;

Drfl.app_weld_weave_cond_trapezoidal(weaving_trap);