2. Insert command
2.1. ARCON
Description | ARCON command starts the arc welding and can be used in 4 forms. However, it will be impossible to use commands that are not supported by the set welder. | ||
Grammar | • ARCON • ARCON ASF#=<Arc welding condition no.> • ARCON C=<Current>,V(VP)=<Voltage>,ASF#=<Arc welding condition no.> • ARCON ASF#=<Arc welding condition no.>,JOB#=<Welder job no.> → Only for a welder that supports the job mode | ||
Parameter | Arc welding condition no. | Welding condition no. used for arc welding start and main condition | Rounded-up. 1~32 |
Current | Output current for arc welding | 0~500 A | |
Voltage(V) Voltage(VP) | Actual output voltage upon arc welding Offset voltage of synergic voltage upon arc welding | -20 ~ 40 V -200 ~ 200 V(%) | |
Welder job no. | Job no. to use among job no. saved in welder | 1~999 | |
Example of usage | • ARCON: Starts welding based on previous welding conditions or conditions set according to commands such as ARCCUR, ARCVOL • ARCON ASF#=1: Starts welding with the designated welding start condition • ARCON C=200,V=22,ASF#=1: Starts welding by applying input values for current and voltage, and using welding start condition no. for other welding conditions • ARCON ASF#=1, JOB#=5: Applies the job mode for welding and uses job no. 5. Starts welding based on welding start condition no. for other welding conditions • ARCON ASF#=1,REF#=7: Performs welding based on the designated #1 welding start condition and performs quantification of the welding results by using the reference file #1. | ||
Detailed Explanation | • [Chapter 5 Arc welding condition editing] | ||
l In order to use a digital welder, it is needed to set the ‘Arc welding’ item as ‘digital’ at『[F2]: System』→『5: Initialize』→ 『3: Usage Setting』
l Some welder models have the function of internally saving jobs by presetting various welding settings. In such cases, it is possible to use the 4th criterion.
2.2. ARCOF
Description | ARCOF command ends the arc welding and can be used in 4 forms. However, it is impossible to use commands that are not supported by the set welders. | ||
Grammar | • ARCOF • ARCOF ASF# • ARCOF AEF#=<Arc weld end condition number> →Only for analogue arc welding • ARCOF C=<Current output>,V(VP)=<Voltage output> , AEF#=<Arc weld end condition number > → Only for analogue arc welding | ||
Parameter | Arc end condition number | Welding condition number which is used on arc welding end | 1~32 |
Current output | Output current on arc welding end | 0 ~ 500A | |
Voltage output (V) Voltage output (VP) | Output voltage for individual setting arc welding end. Output voltage for unified setting arc welding end | 0.0~40.0 V -20~200 (%) | |
Example of usage | • ARCOF: Ends arc welding without special ending process. • ARCOF ASF#: Ends welding according to details set by ARCON in case of digital setting. Condition setting can be approached only from ARCON. • ARCOF AEF#=1: Ends welding according to the condition on the condition file. • ARCOF C=200,V=22, AEF#=1: Ends welding according to input value for current and voltage and the value on the assigned condition file for other welding conditions. | ||
Detailed Explanation | • [Chapter 5 Arc welding condition editing] | ||
l To use the digital welder, set ‘arc welding’ of 『[F2]: System』 → 『5: Initialize』→ 『3: Usage Setting』as digital.
2.3. WEAVCmd
Description | WEAVCmd command sets the individual items of the weaving condition externally. With the command, it is possible to set weaving conditions over the weaving condition count limit (32). | ||
Grammar | WEAVON WEV#=<Weaving condition number> WEAVCmd.Freq=5 | ← Loads weaving condition. ← Sets an item among weaving conditions to be changed. | |
Example of usage | • WEAVON WEV#=1 • WEAVCmd.Freq=5
• WEAVCmd.FwdAngle=10
• MOVE L,S=100cm/min,A=0,T=0
| ← Loads weaving condition No. 1. ← Change only frequency among weaving conditions to 5Hz. ← Change 10° of proceeding angle among weaving condition ← The robot moves while operating according to the weaving condition shown above | |
Detailed Explanation | • [Chapter 6 Weaving function] |
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l Some commands in the WEAVCmd assignment statement are not reflected when change occurs during the weaving operation. For a list of commands that make it possible to change during the weaving operation, refer to “Chapter 6 Weaving.”
2.4. WEAVOF
Description | WEAVOF command ends the weaving operation. |
Grammar | • WEAVOF |
Example of usage | • WEAVOF |
Detailed Explanation | • [Chapter 6 Weaving function] |
2.5. REFP
Description | REFP command is used for entering the necessary reference point for the weaving motion. Insert reference points such as weaving wall or approach direction. | ||
Grammar | REFP <Reference point number>,<Pose (number)> REFP <Reference point number> | ||
Parameter | Reference point number | The number to set the type of reference point. | 1~4 |
Pose number | Inserts pose of reference point. Except, it is omitted in case it is inserted as hidden pose. |
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Example of usage | • REFP 1,P1 ← Designate the wall direction of weaving by using P1 • REFP 1 ← Designate the wall direction of weaving by using the hidden pose. • REFP 2, (-1073.33, 739.01, 258.30, 0, 76, 23) ← Designate the position of the weaving surface | ||
Detailed Explanation | • [Chapter 6 Weaving function] | ||
l Alike the MOVE grammar, the REFP grammar falls under the step.
l Becomes a hidden pose type when entering the REFP command using the <REFP> key of the user keys.
l It is possible to move to the teaching position by executing the step advance after setting the execute unit as Cmd, Step.
2.6. ARCCUR
Description | The ARCCUR grammar sets a designated value for the welding current output. | ||
Grammar | • ARCCUR C=<Current> | ||
Parameter | Current | The current output value for the main arc welding work. | 0~500 A |
Example of usage | • ARCCUR C=200 | ||
2.7. ARCVOL
Description | The ARCVOL grammar sets a designated value for the welding voltage output. The value to be designated will vary depending on the type of welder. | ||
Grammar | • ARCVOL V(VP)=<Voltage> | ||
Parameter | Voltage (V)
Voltage (VP) | The voltage output value for the main welding work Synergic voltage % when carrying out the arc welding. However, in case of GB2, GZ4 and GE2, the offset voltage value of the synergic voltage. | 0.0 ~ 40.0 V
-200 ~ 200 V(%) |
Example of usage | • ARCVOL V=20 • ARCVOL VP=100 ←Synergic voltage value 100% • ARCVOL VP=2 ← Reference synergic voltage, and the offset voltage +2V (In case of GB2, GZ4 and GE2) | ||