app_weld_get_welding_cond_analog()

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)/current (c_target). In addition, it is possible to check the fail status using the welding status factor.

Parameter

Parameter Name	Data Type	Default Value	Description

Return

Value	Description
v_target	Current Target Voltage (V) (target with adjustment applied)
c_target	Current Target Current (A) (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)
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

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)

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

 

while True:

   Vt, Ct, 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()

Features

Parameter

Return

Exception

Example

Related commands