Настройки сварки

You can edit weld settings by clicking on the «Weld Settings» in the ribbon, or next to the «Settings» in the detail area for a weld. There are four types of weld settings:

  • Process Settings which control the torch geometry, welding schedule, weld position and other process-related inforamtion.

  • Calibration Settings which manage how calibration is performed.

  • Robot Positioner Settings which control the movement of the robot“s positioner (e.g. track or gantry).

  • Workpiece Positioner which control the movement of the workpiece positioner (e.g. rotator).

To create, copy and remove settings, click on the appropriate setting type and click the «plus», «copy», or «remove» icon below the settings list in the bottom left of the dialog.

Tip

Settings can be imported and exported from a CSV spreadsheet in order to share them more easily between projects.

../../_images/import-export-settings.png

Note

You can apply settings to one or more welds by using the Weld Detail area, or by right clicking on the welds to open the Weld Context Menu and selecting the settings.

Process Settings

By default, only a subset of the weld process settings are shown. To show all settings, click the «Show advanced settings…» text.

Process Settings

Weld process settings in «simple» mode

Process Settings

Weld process settings in «advanced» mode

  • Name: The name of the weld setting.

  • Position: The position to perform the weld (e.g. downhand, vertical up). A workpiece positioner is required to orient the weld in the selected welding position. If there is no workpiece positioner, this setting will be hidden. See the Weld Position section for a description and diagram of each possible value. You can use the «Look Xmm behind/ahead» the weld setting to offset the position along the weld which is used to calculate the welding position. You can use the «Tilt welding position» setting to add a custom offset to the calculated welding position.

  • Program ID: Sets the welding program in the welddata for ABB robots, or program number for UR or KUKA robots.

  • Arc Start: For all other robots this is the text that will be placed in the arc start command. For Yaskawa Motoman robots „13“ will create the arc on instruction ARCON ASF#(13). For Fanuc „1, 1“ will add the arc on instruction Arc Start[1, 1] to the end of movement at the start of the weld. You can also enter custom text here which will replace the ARCON or Arc Start command.

  • Arc End: For non-ABB robots. The text that will be placed in the arc end command. For Yaskawa „13“ will create the arc on instruction ARCON AEF#(13). For Fanuc „1, 1“ will add the arc on instruction Arc End[1, 1] to the end of movement at the end of the weld.

  • Welding Speed: Sets the speed for welding.

  • Voltage: Only used in ABB robots to set the voltage in the output seamdata.

  • Current: Only used in ABB robots to set the current in the output seamdata.

  • Wire feed speed: Only used in ABB robots to set the wire feed speed in the output seamdata.

  • Additional stick-out: Amount of stick-out to use over the set TCP position.

  • Travel angle: The minimum, maximum, and optimum travel angle to use when planning welds. This is the equivalent to the push/drag angle. Negative values indicate a drag. The optimum value will be used as the ideal travel angle where possible. The minimum and maximum set the limit of the travel angle.

  • Work angle: The minimum, maximum, and optimum tilt angle to use when planning welds. A value of zero will bisect the two faces that formed the identified welds. The optimum value will be used as the ideal tilt angle where possible. The minimum and maximum set the limit of the tilt angle.

  • Wire Rotation: The minimum and maximum values of the wire rotation (angle between the welding torch travel direction and the weld direction). An angle of zero would always align the torch travel direction with the weld direction. By default, this is unconstrained.

Качание/Weave

Качание/Weave
  • Enable weave? will output the instructions to make the robot weave during welding if enabled. The textbox should be used to add in the weaving parameters to be sent to the robot.

    For ABB this will be the weavedata for example [1,0,3,3,0,0.2,0,0.2,0,0,0,0,0,0,0]. For Yaskawa this will be the weaving file number e.g. 3.

  • Enable through-arc seam tracking will output the instructions to make the robot use seam tracking during welding. The textbox should be used to add in the weaving parameters to be sent to the robot. You can also select «Enable Optical Tracking» if this is available for your work cell.

    For ABB this will be the trackdata for example [0,FALSE,10,[0,20,20,0,0,2,10,20,2],[0,0,0,0,0,0,0]]. For Yaskawa this will be the Comarc settings for example U/D=260 L/R=5.0.

  • Sense allows you to limit calibration so it is only performed at the start and/or end of a weld path. This allows you to tell Verbotics to only calibrate the start position, and then use seam tracking during the weld path.

Прерывистость/Stich

Weld Settings Stitch
  • Включить прерывание/Enable stitch? Создает прерывистый сварной шов.

  • Начальный сдвиг/Start offset: Расстояние от начала шва до начала первого стежка.

  • Обратное направление первого стежка/Reverse direction of first stitch? Обратное направление первого стежка, если активировано. Удобно для уменьшения величины угла перемещения при движении из внутреннего угла.

  • Конечный сдвиг/End offset: Расстояние от конца шва до конца последнего стежка.

  • Длина шва/Weld length: Длина каждого сегмента стежка.

  • Длина зазора/Gap length: Целевая длина каждого зазора. Расстояние между швами регулируется для каждого шва таким образом, чтобы полная длина стежков укладывалась в общую длину шва.

Положение сварки

Значение Position (Положение) управляет тем, как позиционер заготовки выставляется относительно сварного шва. Возможные значения показаны ниже. Verbotics Weld будет пытаться достичь желаемого положения сварного шва там, где это возможно в пределах возможностей позиционера заготовки.

Положение сварки

Value

Diagram

Description

ISO 6947

В диапазоне от «нижнего/в лодочку» до «горизонтально-вертикального» положения

fhv

Позволяет при необходимости свободно перемещаться между «нижним» и «горизонтально-вертикальным» положением. Дипазон зависит от угла скоса кромки сварного шва. Это значение является значением по умолчанию.

от PA до PB

Нижнее положение

downhand

Поддерживает сварку в идеальном нижнем положении/»в лодочку».

PA

Горизонтально-вертикальное положение

hv

Поддерживает сварку в идеальном горизонтально-вертикальном положении.

PB

Горизонтальное положение

horizontal

Поддерживает сварку в идеальном горизонтальном положении.

PC

От «верхнего» положения до «горизонтального»

ohho

Обеспечивает переход между идеальным верхним и верхне-горизонтальным положением сварного шва. Аналогично настройке «нижнее/горизонтальное-вертикальное» положение; зависит от угла скоса кромки сварного шва.

от PD до PE

Вертикально вверх

vertical_up

Поддерживает сварку в идеальном положении «вертикально вверх».

PF

Вертикально вниз

vertical_down

Поддерживает сварку в идеальном положении «вертикально вниз».

PG

Calibration Settings

touch calibration
  • Name: The name of the calibration setting.

  • Type: The type of calibration used. Available options will depend on your work cell.

    • Touch Sense: Use touch sense calibration

    • Laser 1D: Use 1D laser touch sense

    • Laser 2D: Use 2D laser touch sense

  • Make this the default for new welds? Configure new welds to automatically use these calibration settings by default

Общая информация

  • Part Accuracy: Sets the value to be used for the part accuracy (i.e. the maximum difference between the CAD model and real-world part). This setting changes the size of the uncertainty window when performing sensing. The calibration planner will take this into account for search actions.

  • Sense:

    • Weldable parts only Only senses parts that are enabled for welding. This can be useful for selectively preventing searching on certain parts.

    • Weld faces only Only touch senses on faces that are adjacent to welds. Note that this will not effect the sensing action that is in the weld direction.

  • Replacement Distance: Sets the maximum distance where a sense action will be used when planning. For example, if this is set to 50mm, The maximum distance that a sense can take place from the calibration location is 50mm.

  • Maximum Spacing: The maximum distance between two sense operations when touch sensing long straight paths. This allows better touch sense coverage for long welds, where calibration values are more likely to differ along the weld.

Touch Sense

  • Limit touches to 2 directions will only sense in the directions perpendicular to the weld path.

  • Require touches in all 3 directions: An optional parameter to require a sensing action in the weld direction, This will improve the accuracy of the start / stop position of the weld but may not be possible depending on the geometry being welded. At the;

    • start and end: Require 3 direction touch sense at both the start and the end of the weld.

    • start or end only: Required a 3 direction touch sense at either the start or the end of the weld.

    • start only: Require 3 directions of touches only at the start of the weld.

    • end only: Require 3 directions of touches only at the end of the weld.

  • Avoid touches near welds? Controls whether the planner will avoid sensing locations where welds are in the project.

  • Avoid touches on curved surfaces? Curved surfaces may be prone to higher variability compared to flat surfaces. Use this option to avoid touch sensing curved surfaces.

  • Maximum surface angle from search direction will limit the relative angle of surfaces to be touch sensed.

Laser 1D

1D Laser settings

Laser 1D has two settings that are not shared with Touch Sense calibration:

  • Avoid reflections causing invalid sensor readings? When laser sensing, invalid sensor readings can occur is some situations due to reflection. This setting ignores these false positives by rejecting values surrounding those where a reflection could have occurred.

  • Limit incidence angle to minimum Limit the angle between the surface being sensed and the laser to be above the specified angle.

Workpiece positioner

Configure the behaviour of the workpiece positioner.

Workpiece positioner settings
  • Make this the default for new welds? Configure new welds to automatically use these workpiece positioner settings

  • Отключить движение позиционера заготовки во время сварки/Disable workpiece positioner motion during welding? Опция блокирует перемещение позиционера во время сварки, если активирована.

  • Lock workpiece positioner to a specific value: Sets the value(s) to set the workpiece positioner. This is useful if a specific workpiece pose is required for welding or the automatic algorithm in Verbotics Weld does not generate an acceptable solution. Can also speed up planning in some cases.

Laser 2D

Each 2D laser setting needs a library of profile types associated with it, corresponding to the profile types (also known as tasks) configured in your sensor’s control system. To create a profile type, click on the 2D laser setting item in the list on the left, and then click the add button.

This will create a new entry under your laser 2D setting as shown below.

List of 2D laser settings

To edit the parameters for an individual profile type, click on it in the tree. The fields in the top half of the page relate to the entire 2D laser setting, and the lower half relates to the joint type you have selected.

../../_images/2d-settings-areas.png

Laser 2D sense and profile type settings.

You can also click on parent entry of the laser setting to edit the «Default» settings. These options will be applied to all profile types which are associated with the setting.

../../_images/default-2d-profile-settings.png

Editing the default profile type settings.

The settings in the «General» area are common with the other calibration types. The settings in the «2D Laser» area are for each profile type, and have the following behaviour:

  • Name the name for selection and display in Verbotics Weld.

  • Prioritise for automatic selection if two profile types are considered viable for use, checking this will prioritise it.

  • Task must correspond to the task number which is configured in your sensor control system. Depending on the detection type, this will either have only «number», or «left number» and «right number». Left and right number are for features such as edges which will be detected differently depending on the orientation of the sensor.

  • Detection type controls the type of joint geometry which the profile type corresponds do. Changing this will change the available fields. Verbotics will automatically analyse your part to determine the appropriate profile type using this. «Override» is a special detection type which will not perform part recognition if you wish to manually use this in the 2D calibration editor.

  • Detection length is the minimum length of a straight profile edge which is used for detection. Detection angle is the angle and range of feature you are looking for - for example the opening angle of a Fillet feature.

  • Allowable sensor rotation is the maximum allowed rotation around each sensor axis from the ideal viewing position. Ry min allows you to avoid looking directly at the feature to avoid reflection issues if required.

Robot Positioner

Configure the behaviour of the robot positioner.

Workpiece positioner settings
  • Make this the default for new welds? Configure new welds to automatically use these robot positioner settings

Configurable settings in the table influence the workpiece positioner axis with the name indicated in the first column. The configurable settings for each positioner axis are;

  • Move during welding? How the axis moves during welding

    • Allow movement allows the positioner axis to move freely within its limits

    • Do not move stops the positioner axis from moving during the weld

    • Lock to a specific value locks the axis to a specific value during the weld.

    • Lock relative to weld locks the positioner axis to value relative to the weld. There may be movement of the axis during the weld depending on the alignement bewteen the axis and the weld path. Configurable for Lock to specific value and Lock relative to weld. Sets the absolute or the relative to weld position of the locked value respectively.

  • Limit to one side of weld? Limit the selected positioner axis to only the positive or negative position relative to the weld. Can be useful for standardising the robot pose for a group of welds.