3.2. Multi-path welding using trace save function

This function is used when the required angle in the rear board arc welding is too wide to be welded in one welding or when the volume to fill with welding is too large and requires multiple welding repeatedly.

Generally due to the characteristics of the arc sensing, the sensing can be unstable except for the initial layer, root path. Therefore use the arc sensing only for the initial layer tracking the welding line. And then save the tracking trace and generate the path by shifting the saved path by more than 2 layers.

The sensing trace can be saved using the following “TRJLOG” command, and the saved trace can be used from HRBASIC.

TRJLOG ST=<Start/End>,SC=<Sampling cycle>,

LSP=<Record start pose variable>,

LCV=<LV% number for record count exchange>

Description) Description of element

ST: 1=Trace record start, 0=Trace record end

SC: 0=Path step save option (Currently not supported)

1~100=Sampling weaving cycle

LSP: Record start pose variable number (Maximum of 999)

LCV: Record count designation/check LV% variable number

Before executing the command, save the maximum record value and reduce 1 for every recording.

Prepare the work program as follows.

~~~~~~~1st layer welding: Arc sensing and trace save ~~~~~~~~~~~~~~~

LV3%=200 'Designate maximum number of records to save

WEAVON WEV#=1 'c

ARCON ASF#=1 'Start arc welding

TRJLOG ST=1,SC=5,LSP=100,LCV=3 'Start trace saving

S2 MOVE L,S=40cm/min,A=0,T=0

TRJLOG ST=0 'End trace saving

ARCOF AEF#=1 'End arc welding

WEAVOF 'End arc sensing

V5%=200-LV3% 'Number of traces saved

~~~~~~~Omitted ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

The work program to weld multiple paths based on the saved trace is as follows.

2nd layer trace: Shift 1st layer trace by 3mm in –Y direction and rotate RX by 10 degrees

3rd layer trace: Shift 1st layer trace by 3mm in –Z direction and rotate RX by -10 degrees

~~~~~~~2nd /3rd layer welding program ~~~~~~~~~~~~~~~~~~~~~~~~~~

IF V2%=2 THEN '2nd layer welding?

LR1=(0,-3,0,10,0,0)R 'Y=-3, RX=10 degrees

ELSE V2%=3 THEN '3rd layer welding?

LR1=(0,0,-3,-10,0,0)R 'Z=-3, RX=-10 degrees

ENDIF

S4 MOVE L,P20,S=20%,A=0,T=0'P20 is starting point.

WEAVON WEV#=1

CONTPATH 1 'Start continuous pass

ARCON ASF#=1

FOR V1%=0 to V5% 'V5% is saved number

LP1=P[100+V1%]+LR1 'LR1 is shift value for applicable layer

S5 MOVE L,LP1,S=40cm/min,A=0,T=0

NEXT 'Move to saved location path

ARCOF AEF#=1

CONTPATH 0

WEAVOF

~~~~~~~Omitted ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

3.2. Multi-path welding using trace save function​

3.2. Multi-path welding using trace save function