Arc welding: weaving plane
My task is to program MIG arc welding of objects with axial symmetry. The robotic cell includes an IRB2400L arm and a positioner with a rotating table; RobotWare 5.15.15. The preferred (working) solution is to hold a stationary welding torch at distance R from the centre of the table and continuously rotate the table (number of full revolutions >> 1), which is implemented using ArcL command with the only variable which changes being ToPoint.extax.eax_c. In addition to simplicity, another benefit of this approach is a constant orientation of the tool tangential to the path. The azimuthal angle of the torch position is prescribed and cannot be freely selected.
I have been asked to add weaving to the welding. I used weavedata with the following fields:
weave_shape := 1 (horizontal weaving);
weave_type := 3 (since the torch is stationary, it has zero weave length; instead weave frequency has to be defined for Rapid weaving);
weave_length := 1 (frequency of weaving for Rapid weaving);
weave_width := 8 (amplitude of deviations of the torch from the equilibrium position, mm).
The rest of the weavedata fields are zero.
Problem: how to set the direction of weaving for a stationary tool at a specified azimuthal angle? I tried changing the following parameters: weave_dir, weave_tilt, weave_ori, tool orientation, work object orientation, world orientation. None of that had any effect on the direction of weaving. I found a quick fix (vertically displace the torch by +-0.1mm). But I would love to know a rigorous solution.
Thank you very much in advance.