app_weld_weave_cond_trapezoidal(wv_offset=[0,0], wv_ang=0, wv_param=[0,1.5,0,-1.5,0.3,0.1,0.3,0.3,0.1,0.3])
Features
This sets the trapezoidal 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 | Weaving Coordinate-Y Direction Offset (mm) |
0 | Weaving Coordinate-Z Direction Offset (mm) | ||
wv_angle | float | 0 | Weaving Coordinate-Weaving Plane Tile Angle centering on X-Axis (deg) |
wv_param | list(float[10]) | 0 | Weaving Point 1-x (mm) |
1.5 | Weaving Point 1-y (mm) | ||
0 | Weaving Point 2-x (mm) | ||
-1.5 | Weaving Point 2-y (mm) | ||
0.3 | Weaving Point 1→2 hrs (sec) | ||
0.1 | Weaving Point 1→2 Dec/Acc Time (sec) | ||
0.3 | Weaving Point 1 Dwell Time (sec) | ||
0.3 | Weaving Point 2→1 hr (sec) | ||
0.1 | Weaving Point 2→1 Dec/Acc Time (sec) | ||
0.3 | Weaving Point 2 Dwell Time (sec) |
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
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_trapezoidal(wv_offset=[0,0], wv_ang=0, wv_param=[0,5,0,-5,0.7,0.2,0.5,0.7,0.2,0.5])
# Trapezoidal Weaving Pattern, Offset=0,0, Tilt Angle=0, Weaving Point 1=(0,5), Weaving Point 2=(0,-5), Weaving Time=0.7 (sec) (same in both directions), Weaving Dec/Acc Time=0.2 (sec) (same in both directions), Weaving Point 1 Dwell Time=0.5 sec, Weaving Point 2 Dwell Time=0.5 sec
app_weld_disable_analog ()