app_weld_adj_welding_cond_analog(flag_reset=0, v_target=None, f_target=None, vel_target=None, wv_offset=None, wv_width_ratio=None)

Features

This adjusts the welding condition and weaving condition during analog welding. It is used to change the welding condition of each section in a series of sections before calling the motion command (movel(), movec(), moveb(), movesx()). If an adjustment factor is entered using this command, the corresponding welding condition and weaving condition are adjusted, and real-time adjustment of the welding/weaving condition from the welding monitoring information screen of the TP becomes unavailable. Execute flag_reset=1 to reset the adjusted condition to the main condition set using app_weld_set_weld_cond_analog() and app_weld_weave_cond_trapezoidal(). Setting flag_reset=1 will reset to the final condition adjusted in real-time using the TP (the weaving width ratio (wv_width_ratio), which cannot be adjusted in real-time, is changed to 1), and the welding condition can be adjusted in real-time from the TP.

Parameter

Parameter Name	Data Type	Default Value	Description
flag_reset	int	0	0: Apply Adjustment 1: Default Target (app_weld_set_weld_cond_analog()) Apply Value
v_target	float	-	Target Voltage (V)
f_target	float	-	Feeding Speed (m/min))
vel_target	float	-	Target Speed (mm/sec) Take note that the unit is different from that of the teaching pendant input (cm/min)
wv_offset	float[2]	-	Weaving Coordinate-Y Direction Offset (mm)
wv_offset	float[2]	-	Weaving Coordinate-Z Direction Offset (mm)
wv_width_ratio	float	-	Changed Weaving Width/Set Weaving Width Ratio (0-2)

Note

Conditions which do not designate a value in factors v_target/f_target/vel_target/wv_offset/wv_width_ratio will maintain the current condition (including conditions with real-time adjustments), so only set factors that require adjustment. However, in the case of wv_offset, even if an adjustment is made only to the Y direction or Z direction, values for both sequences must be entered.

Return

Value	Description
0	Setting Success
Negative value	Setting Failure

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

PY

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)

movel(pt3, v=5, a=5, app_type=DR_MV_APP_WELD)

# Start Point → pt1: Apply Origin Welding Condition (24V, 20 m/min)

# pt1 → pt2: Apply Adjusted Condition (20 V, 10 m/min)

# pt2 → pt3: Apply Origin Condition (24 V, 20 m/min)

 

app_weld_disable_analog()

Features

Parameter

Return

Exception

Example

Related commands