6.2. Reference point function
6.2. Reference point function
In order to carry out weaving, it is necessary to secure weaving coordinates that will determine the position of the weaving form trajectory, as explained in 6.1 Weaving function. The set weaving coordinates will be used to set the details of the weaving function.
When the weaving motion is started, the Z-axis of the robot coordinate will be placed in the direction of the wall. The position of the approaching pose of the welding start point and also the proceeding torch direction in the welding section are used to allow the weaving coordinates (rectangular coordinates) to be generated automatically.
However, in some cases, it would be impossible to create weaving coordinates depending on the position of the approaching pose of the welding start point, the type and position of base metals, and also when the set weaving coordinate needs to be changed (Ex.: If the angle between the wall direction and other direction is not 90 degrees).
In such cases, the reference point function can be used to generate weaving coordinates as desired in a way that can match the weaving type with the base metal.
l When setting the weaving condition as [Basic pattern] → [Wall direction] based on the “Base on Torch”, REFP commands other than REFP 3 (Reference Point 3) are not used.