app_weld_weave_cond_cwave(wv_offset=[0,0], wv_ang=0, wv_param=[45, 10, 10, 0.5, 0.5, 0.2, 0.2, 0.2, 0.2])
Features
This sets the c-wave weaving condition. It is only valid within the welding section defined with the Enable Welding (app_weld_enable_analog()) and Disable Welding (app_weld_disable_analog()/ app_weld_disable_digital()) commands, and any operations starting at a point outside the welding section will generate an error. The weaving condition is defined by the weaving coordinates, which are defined with the TCP direction from the weaving x-axis as the weaving z-axis, and the vector-multiplied (cross product) direction as the weaving y-axis with the welding path direction as the weaving x-axis. Refer to the figure below for the coordinates and weaving setting factor. Only one weaving condition is allowed in a single welding section. The offset or weaving width can be adjusted during welding with the app_weld_adj_welding_cond_analog()/ app_weld_set_weld_cond_digital() command or the voltage/current/speed and the offset can be adjusted from the Welding Condition Adjustment popup of the teaching pendant. However, from the teaching pendant, welding condition adjustments are only available if the welding condition adjustment status is set to RESET using a command (the welding condition setting is designated with app_weld_set_weld_cond_analog()/app_weld_set_weld_cond_digital()).
Parameter
Parameter Name | Data Type | Default Value | Description |
|---|---|---|---|
wv_offset | float[2] | [0, 0] | [0] Weave Coordinate System - Y Offset (mm) [1] Weave coordinate system-z offset (mm) |
wv_angle | float | 0 | Rotation angle of the weave plane about the weave coordinate system-x axis (deg) |
ww_param | list(float[9]) | [45, 10, 10, 0.5, 0.5, 0.2, 0.2, 0.2, 0.2] | [0] Weaving Theta (deg) [1] Weaving Width1 (mm) [2] Weaving Width2 (mm) [3] Weaving Time1 (sec) [4] Weaving Time2 (sec) [5] Dwell Time1 (sec) [6] Dwell Time 2 (sec) [7] Dwell Time 3 (sec) [8] Dwell Time 4 (sec) |
Return
Value | Description |
|---|---|
0 | success |
negative value | fail |
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
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=200, f_target=150, vel_target=10, vel_min=10,
vel_max=100, weld_proc_param=[0.5,0.3,2,1,0.7,0.4,0.7,0.6,1.5])
app_weld_weave_cond_cwave(wv_offset=[0,0], wv_ang=0, wv_param=[45, 10, 10, 0.5, 0.5, 0.2, 0.2, 0.2, 0.2])
# C-wave Weaving Pattern, Offset=0,0 Tilt Angle=0, Weaving Theta=45(deg), Weave Width=10(mm), Weaving Time=0.5(sec), Dwell Time=0.2(sec)
app_weld_disable_analog()