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1、AdaptiveWeldingforHeavyPlateFabricationFANUCRoboticsAmerica11/23/2010Thisapplicationnotedescribesastrategyforadjustingwelddepositionratetovaryingvolumeweldjointsbasedonmeasurementoftheweldjointgapandweldcenterlocationattwoendsofastraightweldseaminorder
2、toproduceauniformlayerthickness.Theweldjointinthisexampleisahalf-veejointwithrootbacking:A45o20mm5mm(nom.)AAA1234ThebasicapproachtoweldsofthistypeuseseitherTouchSensingoriRVisiontomeasuretheweldjointgapattherootopeningateitherendoftheweldjoint.Theweldi
3、ngprogramsuseTASTwithMultipass/RPMtoaccommodateseamtrackingrequirements.Thegapmeasurementsareusedtocalculatethevolumeofweldmetalrequiredtofillthegapforeachweldpassandsettheweaveamplitudeandweldtravelspeedtoaccomplishthisgoal.ConditionsR-30iAControllerw
4、ithV7.40P/11(orlater)ArcToolsoftwareOptionsRequired:TouchSensingoriRVision2DpackageArcRamping(includedinStandardArcToolbeginninginV7.40P/09)TAST+MP/RPMoptionPage10of10FANUCRoboticsAmerica10/6/2021SystemVariableSettings:Setthefollowingsystemvariables:$A
5、WERAMP[1].$RAMP_ENABLE=TRUE$AWERAMP[1].$RAMP_TO_POS=TRUE$WVCFG.$RAMP_ENB=TRUE$WV_OTF_GP[1].$OTF_ENABLE=TRUE$WV_OTF_GP[1].$GET_AMP=TRUE$SCR_GRP[1].$M_POS_ENB=TRUE$SCR_GRP[1].$M_DST_ENB=TRUEThe$SCR_GRPvariablesarenotnecessaryforoperationbutareenabledsoDa
6、taMonitorcanbeusedtorecordtheactualpositionandtravelspeedduringoperation.TheprogramSETSYSVAR.TPcanbeusedtosetthesevariables.TPProgramStructureMAINWELD(shellprogramtocontroloverallsequence)-CALLMEASGAPS(Collectsthejointmeasurementroutines)oCALLINITGAPS(
7、zerosthegapwidthregisters)oCALLFIND_JT1(findsjointandmeasuresgapatposition1)oCALLFIND_JT2(findsjointandmeasuresgapatposition2)-CALLREGMATH(CalculateTravelSpeed)-CALLADPTWV(Calculateweaveamplitude)-CALLCALC_TVL(Settravelspeedinweldschedules)-CALLPASSES(
8、Performstheweldingoperation)oCALLSCALEGAP(adjuststhegapmeasurementforfillpasses)Detaillisting:MAINWELD.TP1:CALLMEASGAPS;2:CALLREGMATH;3:CALLADPTWV;4:CALLCALC_TVL;5:PAUSE;6:CALLPASSES;MEASGAPS.TP1:UFRAME_NUM=0;Page10of10FANUCRoboticsAmer
