Features
This monitors the welding status during analog welding. Values available for monitoring are the current target voltage/current/speed/weaving offset/digital output signal and measured voltage/current and welding status. If measured voltage/current is not set (if ch_v_in and ch_c_in are not set during app_weld_enable()), the output of the corresponding values are set equal to the target voltage (v_target)/feeding speed (f_target). In addition, it is possible to check the fail status using the welding status factor.
Return
|
Value |
Description |
|---|---|
|
v_target |
Current Target Voltage (V) (target with adjustment applied) |
|
f_target |
Current Target Feeding Speed (m/min) or Target Current (A) (target with adjustment applied) |
|
vel_target |
Current Target Speed (mm/sec) (target with adjustment applied) * Take note that the unit is different from that of the monitoring output unit (cm/min) of the teaching pendant |
|
v_meas |
Current Measured Voltage (V) |
|
c_meas |
Current Measured Current (A) |
|
wv_offset[2] |
Current Target Offset (Y and Z directions, mm) (target with adjustment applied) |
|
sig_out[4] |
Digital Output Signal (arc_on, gas_on, inching_fwd, inching_bwd) |
|
status |
Non-weld:0, Weld (Normal): 1, Weld (Abnormal): 9, Dry-run: 99 |
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data error |
|
DR_Error (DR_ERROR_VALUE) |
Invalid parameter value |
|
DR_Error (DR_ERROR_RUNTIME) |
C Extension module error |
|
DR_Error (DR_ERROR_STOP) |
Program terminated forcibly |
Example
movej(posj(0,0,90,0,90,0),v=30,a=60)
pt1= posx(559, 434.5, 651.5, 45, 180, 45)
pt2= posx(559, 434.5, 151.5, 45, 180, 45)
pt3= posx(559, 0.0, 151.5, 45, 180, 45)
app_weld_enable_analog(ch_v_out=[1,1], spec_v_out=[0,0,300,10], ch_f_out =[2,1],
spec_f_out =[0,0,40,10], ch_v_in =[1,1], spec_v_in =[0,0,300,10], ch_c_in =[2,1],
spec_c_in=[0,0,40,10], ch_arc_on=1, ch_gas_on=2, ch_inching_fwd=3,
ch_inching_bwd=4, ch_blow_out=5)
app_weld_set_weld_cond_analog(flag_dry_run=1, v_target=24, f_target=20, vel_target=60, vel_min=10,
vel_max=100, weld_proc_param=[0.2,0.2,0.5,0.5,0.5,0.2,0.2,0.5,0.5])
movel(pt1, v=5, a=5, r=30, app_type=DR_MV_APP_WELD)
app_weld_adj_welding_cond_analog(flag_reset=0, v_target=20, f_target=10, vel_target=30, wv_offset=[20,10], wv_width_ratio=0.5)
movel(pt2, v=5, a=5, r=30, app_type=DR_MV_APP_WELD)
app_weld_adj_welding_cond_analog(flag_reset=1)
amovel(pt3, v=5, a=5, app_type=DR_MV_APP_WELD)
while True:
Vt, Ft, velt, Vm, Cm, Off, Dout, status = app_weld_get_welding_cond_analog()
if status == 9:
tp_popup("welding error!! ", DR_PM_ALARM, 1)
# An alarm is generated if abnormal welding occurs (status=9)
else :
if check_motion()==0:
break
app_weld_disable_analog()
Related commands
Keyword
app_weld / weld / get_welding / get_welding_cond_analog / cond_analog