app_weld_get_welding_cond_digital()

Features

This monitors the welding status during welding with a remote control welder. Items available for monitoring are voltage correction/dynamic correction/feeding speed/speed/weaving offset/error number/error status/wire tip fusion/option and measured voltage/current/feeding speed and welding status. Signals other than the basic monitoring items can be added. The corresponding signal must be preset using the interface app_weld_set_interface_eip_m2r_other(). In addition, it is possible to check the fail status using the welding status factor.

Return

Value	Description
voltage_cor	Current Target Voltage Correction (V) (target with adjustment applied)
dynamic_cor	Current Target Dynamic Correction (target with adjustment applied)
f_target	Current Target Feeding Speed (m/min) (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)
status	Non-weld:0, Weld (Normal): 1, Weld (Abnormal): 9, Dry-run: 99
f_meas	Current Measured Feeding Speed (mm/sec)
error_num	Error Number
wire_stick	Wire Tip Fusion Status (0: Normal, 1: Abnormal)
error	Error Status (0: Normal, 1: Abnormal)
option1	Option 1 Information
option2	Option 2 Information
option3	Option 3 Information
option4	Option 4 Information
option5	Option 5 Information
option6	Option 6 Information
option7	Option 7 Information
option8	Option 8 Information
option9	Option 9 Information
option10	Option 10 Information
current_flow	Current Flow Status (0: Open, 1: Closed) "Closed" refers to the state where current flows
process_active	Process Activation Status (0: Ready, 1: Processing)
machine_ready	Welding Preparation Status (0: Machine Disabled, 1: Machine Enabled)

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

Python

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_digital() 

app_weld_set_weld_cond_digital(flag_dry_run=1, vel_target=16, vel_min=0.00, vel_max=16.67, welding_mode=3, s_2t=0, pulse_mode=0, wm_opt1=0, simulation=0, ts_opt1=0, ts_opt2=0, job_num=4, synergic_id=0, r_wire_feed_speed=15, voltage_correct=0, dynamic_correct=0, r_opt1=0, r_opt2=0, r_opt3=0, r_opt4=0, r_opt5=0, r_opt6=0, r_opt7=0, r_opt8=0, r_opt9=0, r_opt10=0, r_opt11=0, r_opt12=0, r_opt13=0, r_opt14=0, r_opt15=0)

movel(pt1, v=5, a=5, r=30, app_type=DR_MV_APP_WELD)
app_weld_adj_welding_cond_digital(flag_reset=0, f_target=10, vel_target=16, wv_offset=[20,30], wv_width_ratio=0.5,
dynamic_cor=0, voltage_cor=0, job_number=5, synergic_id=4)
movel(pt2, v=5, a=5, r=30, app_type=DR_MV_APP_WELD)
app_weld_adj_welding_cond_digital(flag_reset=1)
amovel(pt3, v=5, a=5, app_type=DR_MV_APP_WELD)

[voltage_cor, dynamic_cor, f_target, vel_target, v_meas, c_meas, wv_offset, status, f_meas, error_num, wire_stick,
error, opt1, opt2, opt3, opt4, opt5, opt6, opt7, opt8, opt9, opt10, current_flow, process_active, machine_ready]=app_weld_get_welding_cond_digital();

while True:
   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_digital()

Keyword

app_weld / weld / get_welding / get_welding_cond_digital / cond_digital

Features

Return

Exception

Example

Related commands

Keyword