Circular or pipe welding without synchro motion

Subhodeep

Dear Sir
We have a robot in which we are trying to do a circular welding by keeping the robot stand still and moving the single axis positioner but I am not able to do that as when I give a wait time the welding doesn't starts.
So please help me to resolve this issue.
Thanks & Regards

graemepaulin

Have a look at ArcMoveExtJ

jmf

graemepaulin said:

Have a look at ArcMoveExtJ

graemepaulin. Would this also work for a Non Integrated Non ABB motors Positioner?

jmf

Subhodeep - I have done something similar a while ago. 

Have a look at the following code. This is a continuous weld around a shaft which can be offset by referring to a input from a signal from the positioner. 

MODULE New

    PERS robtarget rtCurr:=[[7400.33,1899.46,369.25],[0.134605,-0.685643,0.699995,0.147588],[0,0,-1,0],[6608,9E+09,9E+09,9E+09,9E+09,9E+09]];

    PROC ContiniousWeldCirc()
        VAR num nTimeLapse{2}:=[1,1];

        ! Robot approach target position 
        MoveJ RelTool(rtCurr,0,0,600),v100,fine,tWG_Straight\WObj:=wobj0;

        ! Robot Approach 350mm in Z, then 50mm in Z and finally moves to starting position
        ShaftAppWeldRelTool Offs(rtCurr,0,0,(350)),RelTool(rtCurr,0,0,-(50)),Offs(rtCurr,3,0,0),v1000,fine,tWG_Straight\WObj:=wobj0;
        ! Waiting for Input from Positioner about where it's reference is. diTT_Pos_Sensor is the Reference input signal which is triggered by a proximity sensor on the external axis
        ShaftWaitdiTT_Pos_Sensor "WAIT diTT_Pos_Sensor HIGH",diTT_Pos_Sensor,1,"WAIT diTT_Pos_Sensor LOW",diTT_Pos_Sensor,0;
        ! After Input received, Activate Welding Signal on Powersource and Wait for signal to be High before continuing
        ShaftSetWaitdoWeld_Sensor "SET doWeld_1 HIGH",doWeld_1,1,"WAIT doWeld_1 HIGH",doWeld_1,1;
        ! Here the welding started and the robot is welding around a circular part while waiting for the next input from diTT_Pos_Sensor
        ShaftWaitdiTT_Pos_Sensor "WAIT diTT_Pos_Sensor HIGH",diTT_Pos_Sensor,1,"WAIT diTT_Pos_Sensor LOW",diTT_Pos_Sensor,0;
        ! After the input is received, the Robot waits for 2 seconds then offsets in X -2mm
        WaitTime nTimeLapse{1}+nTimeLapse{2};
        MoveL Offs(rtCurr,-2,0,0),v100,fine,tWG_Straight\WObj:=wobj0;
        ! Again waiting for Input from Positioner about where it's reference is.
        ShaftWaitdiTT_Pos_Sensor "WAIT diTT_Pos_Sensor HIGH",diTT_Pos_Sensor,1,"WAIT diTT_Pos_Sensor LOW",diTT_Pos_Sensor,0;
        ! After the input is received, the Robot waits again for 2 seconds and also pause for slight moment
        WaitTime nTimeLapse{1}+nTimeLapse{2};
        WaitTime 1.25;
        ! Here the Welding Signal is switched off and welding is off and pausing for 1 second
        Reset doWeld_1;
        WaitTime\InPos,1;

        ! Robot departs from position
        MoveL RelTool(rtCurr,0,0,600),v100,fine,tWG_Straight\WObj:=wobj0;

    ENDPROC
ENDMODULE

Subhodeep

ok sir
thanks to all for your valuable feedback
I will check and let you know if was successful in doing the same or not.

Subhodeep

Sir could you help me with few more queries.
 Like we dont have world zone but is it possible to get a program running in background and letting us know the position of the robot.
Another query is how to send a AI value from Robot to PLC.

Subhodeep

We are working on a Lincoln Welding Machine with ABB Robot 1520-ID where communication protocol  is Device-Net, we have successfully established the communication but I am unable to get all the data in Robot Pendant.
For eg. - I cannot switch between different weld modes through Robot Pendant
It would be great if everyone can share their views on this.