1 2 5 3 4

LINE MOTION POSITION TRAVEL TERMINATION # TYPE DATA SPEED

WORLD 50%

1: L P [1] 2000 IPM FINE 2: L P [2] 2000 IPM FINE 3: L P [3] 2000 IPM FINE 4: L P [4] 100 IPM FINE 5: L P [5] 2000 IPM FINE 6: L P [1] 2000 IPM FINE

2 1 FINE CNT 50 CNT 100 5 3 4

FINE VS. CNTTERMINATION

MOVE CURSOR TOTERMINATION COLUMN, ONTOFINE, PRESS F4 CHOICE KEY,ENTER ON CNT

LINE MOTION POSITION TRAVEL TERMINATION # TYPE DATA SPEED

WORLD 50%

1: L P [1] 2000 IPM CNT 100 2: L P [2] 2000 IPM CNT100 3: L P [3] 2000 IPM FINE 4: L P [4] 100 IPM FINE 5: L P [5] 2000 IPM CNT 100 6: L P [1] 2000 IPM CNT 100

1 2

5

3 4

L - LINEAR VS.J - JOINTMOTION

MOVE CURSOR TOMOTION TYPECOLUMN, ONTO L,PRESS F4- CHOICE,ENTER ON JOINT

LINE MOTION POSITION TRAVEL TERMINATION # TYPE DATA SPEED

WORLD 50%

1: J P [1] 100 % CNT 100 2: J P [2] 100 % CNT100 3: J P [3] 100 % FINE 4: L P [4] 100 IPM FINE 5: J P [5] 100 % CNT 100 6 J P [1] 100 % CNT 100

TO ACHIEVE THE BEST CYCLE TIME POSSIBLE , PROGRAM ACCORDING TO THIS CHART, AS MUCH AS SAFE TESTING WILL ALLOW:

AIR MOVE ARC START MIDDLE- OF -WELD ARC END POINT POINT POINT POINT

J - 100% J - 100% L ( C ) - W.T.S. L ( C ) - W.T.S.

CNT 100 FINE CNT 100 FINE

1 2

11 3 10 9 8 4

5 6 7

1: J P [1] 100% CNT 100 2: J P [2] 100% CNT 100 3: J P [3] 100% FINE ARC START [1] 4: L P [4] 100 IPM CNT 100 5: L P [5] 100 IPM CNT 100 6: L P [6] 100 IPM CNT 100 7: L P [7] 100 IPM CNT 100 8: L P [8] 100 IPM CNT 100 9: L P [9] 100 IPM CNT 10010: L P [10] 100 IPM FINE ARC END [1]11: J P [11] 100% CNT 10012: J P [1] 100% CNT 100END USE F2-ARC START & F4-ARC END KEYS

USE F3-WELD POINT KEY FOR MIDDLE OF WELD POINTS

KEEP WIRE TIP 1/2 INCH FROM EDGE OF BOXMIDDLE-OF-WELD POINTS MUST BE 1/8 INCH FROM CORNER OF BOX

JGFRM 50%

5 4 3

1

2

6

1: J P [ 1 ] 100% CNT1002: J P [ 2 ] 100% CNT1003: J P [ 3 ] 100% FINE ARC START [ 1 ]4: L P [ 4 ] 40 IPM CNT1005: L P [ 5 ] 40 IPM FINE ARC END [ 1 ]6: J P [ 6 ] 100% CNT1007: J P [ 1 ] 100% CNT100END

DON’T FORGET:USE F1-POINT FOR AIR MOVESUSE F2-ARC START FOR ARC STARTUSE F3-WELD POINT FOR MIDDLE OF WELD POINTUSE F4-ARC END FOR ARC END

JGFRM 50%

R

+ X + Y

USING THE RIGHT-HAND-RULE FOR PROGRAMMING

WORLD COORDINATE SYSTEM - A FIXED, NONADJUSTABLE, SYSTEM BASED ON THE ROBOT’SFRONT AND CENTER MOUNTED POSITION

+ Z IS UP

OK TO USE IF FACING THE ROBOT FRONT AND CENTER AS SHOWN ABOVE, PROGRAMMING AT THE CENTER TABLE

R

+ X

+ Y

USING THE RIGHT-HAND-RULE FOR PROGRAMMING

JOG FRAME COORDINATE SYSTEM - JGFRMAN ADJUSTABLE, SYSTEM BASED ON WHERE ONE IS STANDING, FACING THE ROBOT.CAN HAVE UP TO 5 JOG FRAMES SETUP

+ Z REMAINS UP

OK TO USE IF FACING THE ROBOT FROM A DIFFERENT ANGLE AS SHOWN ABOVE

+ X

+ Y

1

25

67-AE

8

3-AS4

C

T

F1-POINT DEFAULT LINES

1: L P[ ] 100 IPM FINE2: J P [ ] 100 % CNT 1003: J P [ ] 50 % FINE4: C P [ ] P [ ] 100 IPM CNT 100

ED_DEFPOINT F1

JGFRM 50%

1: J P [1] 100 % CNT 1002: J P [2] 100 % CNT 1003: J P [3] 100% FINE ARC START [1]4: L P [4] 100 IPM CNT 100END

JGFRM 50%

1: J P [1] 100 % CNT 1002: J P [2] 100 % CNT 1003: J P [3] 100% FINE ARC START [1]4: L P [4] 100 IPM CNT 1005: C P [5] P [ ] 100 IPM CNT 100 END TOUCHUP F3

PRESS SHIFT + F3 TOUCHUP TO RECORD P [6]AFTER RECORDING THE TOUCHUP POINT, YOUMUST CURSOR DOWN TO END STATEMENT

JGFRM 50%

1: J P [1] 100 % CNT 1002: J P [2] 100 % CNT 1003: J P [3] 100% FINE ARC START [1]4: L P [4] 100 IPM CNT 1005: C P [5] P [6] 100 IPM CNT 1006: L P [7] 100 IPM FINE ARC END [1]7: J P [8] 100 % CNT 1008: J P [1] 100 % CNT 100 END

1

25

67-AE

8

3-AS4

F1-POINT DEFAULT LINES

1: L P[ ] 100 IPM FINE2: J P [ ] 100 % CNT 1003: J P [ ] 50 % FINE4: C P [ ] P [ ] 100 IPM CNT 100

ED_DEFPOINT F1

CC

C

C

C

C

C

C

CC

C

C

TT

T

T

T

T

T

TT

T

TT

J

JJ

J

J

J JJ

J

L

L

ARC END IN A STEP:PRESS NEXT, F1-INST,ENTER ON ARC.AT SUBMENU, ENTERON ARC END,KEY IN A 1, ENTER.

1

25

67-AE

8

3-AS4

C

T

F1-POINT DEFAULT LINES

1: L P[ ] 100 IPM FINE2: J P [ ] 100 % CNT 1003: J P [ ] 50 % FINE4: C P [ ] P [ ] 100 IPM CNT 100

ED_DEFPOINT F1

JGFRM 50%

1: J P [1] 100 % CNT 1002: J P [2] 100 % CNT 1003: J P [3] 100% FINE ARC START [1]4: L P [4] 100 IPM CNT 100END

JGFRM 50%

1: J P [1] 100 % CNT 1002: J P [2] 100 % CNT 1003: J P [3] 100% FINE ARC START [1]4: L P [4] 100 IPM CNT 1005: C P [5] P [ ] 100 IPM CNT 100 END TOUCHUP F3

PRESS SHIFT + F3 TOUCHUP TO RECORD P [6]AFTER RECORDING THE TOUCHUP POINT, YOUMUST CURSOR DOWN TO END STATEMENT

P3 – PRESS SHIFT & F2 ARC START

P6 – PRESS SHIFT & F3 TOUCH UP, THENCURSOR DOWN TOEND

P7 – PRESS SHIFT & F4 ARC END

P4 – PRESS SHIFT & F3 WELD POINT

P1 – PRESS F1 POINT BY ITSELF, CURSOR DOWN TO J MOTION DEFAULT LINE, ENTER

P5 – PRESS F1 POINTKEY BY ITSELF,CURSOR TO CIRCULARDEFAULT LINE,ENTER

P2 – PRESS SHIFT AND F1 POINT

P8 – PRESS F1 POINT BY ITSELF, CURSOR TO J MOTION DEFAULT LINE, ENTER.THEN PRESS SHIFT AND F1 POINT FOR P1 HOME POINT

P3-PRESS SHIFT & F2 ARC START

P7- PRESS SHIFT & F4 ARC END

P4-PRESS SHIFT & F3 WELD POINT

P5- PRESS F1 POINT KEY BY ITSELF, CURSOR TO CIRCULAR DEFAULT LINE, ENTER

P6- PRESS SHIFT & F3 TOUCHUP, THEN CURSOR DOWN TO END

P2- PRESS SHIFT AND F1 POINT

P8-PRESS F1 POINT KEY BY ITSELF, CURSOR TO J MOTION LINE, ENTER. THEN RECORD 1 MORE POINT, SHIFT & F1 POINT, PUT A 1 IN THE BRACKETS FOR HOME POINT

P1- PRESS FI POINT KEY BY ITSELF, CURSOR TO J MOTION LINE , ENTER.

JGFRM 50%

1: J P [1] 100 % CNT1002: J P [2] 100 % CNT1003: J P [3] 100 % FINE ARC START [1]4: WEAVE SINE [1]5: L P [4] 10 IPM FINE ARC END [1]6: WEAVE END7: J P [5] 100 % CNT 1008: J P [1] 100% CNT 100END

ASWS

AEWE

1

2

3 4

5

1: WEAVE SINE2: WEAVE FIG 83: WEAVE CIRC4: WEAVE END

TO TEACH WEAVE INSTRUCTIONS:1. PRESS NEXT KEY2. PRESS F1-INST KEY3. CURSOR TO WEAVE SELECTION (PRESS #8-NEXT PAGE IF NECESSARY)4. PRESS ENTER5. WEAVE SUB-MENU NOW APPEARS

FREQ. 1 HZ.

AMP.

P/P8 MM

4 MM

WEAVE SCHEDULEPRESS DATA KEY, THENF1-TYPE, ENTER ON WEAVE

JGFRM 50 %

FREQ AMP L-DWELL R-DWELL Hz. mm sec sec 1: 1.0 4.0 .1 SEC .1 SEC2: 1.0 4.0 .1 SEC .1 SEC3: 1.0 4.0 .1 SEC .1 SEC

FREQ 1 HzAMP 4 mm FREQ 4 Hz AMP 30 mm

1.0 sec DWELL L & R

SINEWEAVE

FIGURE 8WEAVE

CIRCULARWEAVE

JGFRM 50%

1: J P [1] 100 % CNT1002: J P [2] 100 % CNT1003: J P [3] 100 % FINE ARC START [1]4: WEAVE SINE [1]5: L P [4] 10 IPM FINE ARC END [1]6: WEAVE END7: J P [5] 100 % CNT 1008: J P [1] 100% CNT 100END

ASWS

AEWE

1

2

3 4

5

1: WEAVE SINE 2: WEAVE FIG 8 3: WEAVE CIRC4: WEAVE END

TO TEACH WEAVE INSTRUCTIONS:1. PRESS NEXT KEY2. PRESS F1-TYPE KEY3. CURSOR TO WEAVE SELECTION (PRESS #8-NEXT PAGE IF NECESSARY)4. PRESS ENTER5. WEAVE SUB-MENU NOW APPEARS

Press MENUS. Select SETUP.Press F1, [TYPE]. Select Weave.You will see a screen similar to the one at the right:

SETUP\Weave\\\\\\\\\\\\\\\\\\\\\\\\\\\\\ 1/11 NAME VALUE 1 Weave Enable Group Mask [1,*,*,*,*] 2 Dwell delay type: Move 3 Frame type: Tool&Path 4 Elevation: 0 deg 5 Azimuth: 0 deg 6 Center rise: 0.0 mm 7 Radius: 0.0 mm 8 Blend weave end: YES

[ TYPE ] 1 *

ADDITIONAL WEAVE SETTINGS

IF A SIDE-TO-SIDE WEAVE, IN THE FLATPOSITION IS NOT DESIREABLE, THE WEAVE ANGLE CAN BE CHANGED BY MAKING CHANGES TO WEAVEAZIMUTH AND ELEVATION.

AZIMUTH

SIDE-TO-SIDE WEAVE,WITH AZIMUTH SET TO 0 DEGREES

FRONT-TO-BACK WEAVE,WITH AZIMUTH SET TO 90 DEGREES

ELEVATION

ELEVATION SET TO 0 DEGREES,WEAVE IS FLAT, PERPENDICULARTO TORCH TIP

ELEVATION SET TO +45 DEGREES,WEAVE NOW AT AN ANGLETO TORCH TIP

R

RIGHT

PRO. XYZLEFT

PRO. ABC

ROBOTCONTROL

L E R Re

RSR 1 RSR 2

RSR00011: CALL ABCEND

RSR00021: CALL XYZEND

TO CHANGE OVER : 1. BRING UP RSR PROGRAM ON TEACH PENDANT2. CURSOR ONTO OLD PROGRAM NAME3. PRESS F4-CHOICE4. CURSOR TO DESIRED PROGRAM NAME, PRESS ENTER5. CAREFULLY TEST

KOPTIONAL ON/OFFKEY SWITCHFOR CELLSWITH DOORS

R

ZONE 2ZONE 1

L E R Re

RSR 1 RSR 2

PRO. RSR00011: CALL HOME2: CALL HOME13: CALL ZONE14: CALL HOME15: CALL HOMEEND

PRO. RSR00021: CALL HOME2: CALL HOME23: CALL ZONE24: CALL HOME25: CALL HOME END

PRO. HOME ARM AGAINST J2 SWITCH, 1: J P [ 1 ] 100% CNT100 CENTERED ON J1 SWITCHEND

PRO. HOME1 1: J P [ 1 ] 100% CNT100 ENDARM STILL ON J2 SWITCH BUTAXIS J1 TURNED INTO ZONE 1

PRO. HOME2 1: J P [ 1 ] 100% CNT100 ENDARM STILL ON J2 SWITCH BUTAXIS J1 TURNED INTO ZONE 2

PRO. ZONE11: CALL HOME12: CALL “YOUR PRO. NAME”3: CALL HOME1END

PRO. ZONE21: CALL HOME22: CALL “YOUR PRO. NAME”3: CALL HOME2END

KOPTIONAL ON/OFFKEY SWITCHFOR CELLSWITH DOORS

AUX AXISPOSITIONERCELLS WITHLOCAL STOP

R

ROBOTCONTROL

E CSAM

RSR00011: CALL SIDE AEND

RSR00021: CALL SIDE BEND

TO CHANGE OVER : 1. BRING UP SIDE A OR B PROGRAM ON TEACH PENDANT2. CURSOR ONTO OLD PROGRAM NAME3. PRESS F4-CHOICE4. CURSOR TO DESIRED PROGRAM NAME, PRESS ENTER5. CAREFULLY TEST

ReSIDE A PRO.WELD 1SIDE B PRO.WELD 2

SIDE A1: CALL WELD 1END

SIDE B1: CALL WELD 2END

HOW MULTIPLE MOTION GROUPS ARE SETUP IN A ROBOT THE GROUPS G1 G2 G3 ARM LEFT RIGHT H/T H/T 1: J 1 1: J 1 1: J 1 2: J 2 2: 2: 3: J 3 3: 3: 4: J 4 4: 4: 5: J 5 5: 5: 6: J 6 6: 6: USED FOR 7: * 7: 7 EXTENDED 8: * 8: 8: AXIS 9: * 9: 9: (TRACK)

JOGGING FOR COORDINATED MOTION JOGGING (C21) : 1. HAVE G2, OR 3 DISPLAYED ON THE BLUE BAR 2. PRESS FCTN KEY, CURSOR TO TOGGLE COORD JOG, ENTER

TO CHANGE MOTION GROUPS: 1. PRESS FCTN KEY, CURSOR TO CHANGE GROUP, ENTER 2. REPEAT TO FLIP FLOP BETWEEN THE GROUPS 3. NEW I-PENDANT HAS A GROUP KEY

TEST1 G1, 0R 2, OR 3 C21 WORLD 50%

SETTING GROUP MASK 1. CREATE PROGRAM NAME AS USUAL 2. PRESS F2-DETAIL KEY (their is no F3-EDIT key) GROUP 3 GROUP 2 GROUP 1 Line 4: GROUP MASK [ 1 , 1 , 1 , * , * ] 1 = ON/ENABLED, WILL BE RECORDED

* = OFF, WILL NOT BE RECORDED

END 1 * F1 F4 F5

CHANGING POWERWAVE PROCEDURES / MEMORY LOCATIONS

TWO METHODS EXIST FOR CHANGING POWERWAVE PROCEDURES IN THE MIDDLE OF A RUNNING, PRODUCTION PROGRAM.

WHICH ONE WILL WORK ON YOUR ROBOT DEPENDS ON IF THE WELD PROGRAM SELECT FUNCTION IS INSTALLED IN THE ROBOT.

TO DETERMINE THIS, PRESS MENUS KEY ON THE TEACH PENDANT, CURSER TO LINE SETUP AND PRESS ENTER.

THEN PRESS F1-TYPE AND LOOK FOR A SELECTION WELD PROG (approx. line 3).

IF IT APPEARS, FOLLOW PROCEDURE A- WELD PROGRAM SELECT METHOD.

IF IT DOES NT APPEAR, FOLLOW PROCEDURE B- WO7=ON/OFF METHOD!

A. PROCEDURE A - WELD PROGRAM SELECT METHOD The Powerwave 450 allows for the robot to switch between 2 different memory locationsto use two different weld procedures within the same program. It will work with only onepair at a time, for example, memory locations 1 and 2. Memory 1 may be set for a Pulsingprocedure while memory 2 is set for a GMAW procedure.

1. In a program using 2 different procedures as above, 2 separate weld schedules must be used. Begin by pressing the Data key; the Weld Schedule screen will appear, as shown at right. For this example, Weld Schedules 1and 2 will be used. Schedule 1 will be used for the GMAW procedure and schedule 2 for the Pulsing procedure. With the curser on line 1, press F2-Detail. The screen below will appear:

DATA\Weld\Sched\\\\\\\\\\\\\\JOINT\\10\% 1/32 Trim IPM IPM COMMENT 1 \\90.0 300.0 35 2 85.0 300.0 35 3 85.0 300.0 35 4 85.0 300.0 35 5 85.0 300.0 35 6 85.0 300.0 35 7 85.0 300.0 35 8 85.0 300.0 35 9 85.0 300.0 35 [ TYPE ] DETAIL HELP >

DATA\Weld\Sched\\\\\\\\\\\\\\JOINT\\10\% 1/6 1 Weld Schedule: 1 [****************] 2 Program select: 1 [Program 1 ] 3 Command Trim 90.0 Trim 4 Command Wire feed 300.0 IPM 5 Travel speed 35 IPM 6 Delay Time 0.75 sec Feedback Voltage 26.0 Volts Feedback Current 208.2 Amps [ TYPE ]SCHEDULE HELP >

2. Make note of line 2 : Program Select :1 [ Program 1 ]

The number 1 following the words Program Select signals the Powerwave to weld with the currently active, odd-numbered memory location. To activate the even-numbered procedure of the memory pair, the weld schedule must be setup with a number 3 here; see next step:

3. The screen at right is a detail view of weld schedule 2. This is the schedule that would be used for the Pulsing procedure in this example. Note, that on line 2, it reads : Program Select: 3 [ Program 2 ] This line must always read “Program Select 3” to allow the even- numbered memory location on the Powerwave to become the active memory/procedure. This applies to any memory pair that is being used,1+2, 3+4, 5+6, or 7+8. This line is changed to a 3 by moving the curser down to line 2, then curser to the right, onto the number 1 immediately following the words “Program Select”. Keypad in a 3 and Enter.

DATA\Weld\Sched\\\\\\\\\\\\\\JOINT\\10\% 1/6 1 Weld Schedule: 2 [****************] 2 Program select: 3 [Program 2 ] 3 Command Trim 85.0 Trim 4 Command Wire feed 300.0 IPM 5 Travel speed 35 IPM 6 Delay Time 0.00 sec Feedback Voltage 0.0 Volts Feedback Current 0.0 Amps [ TYPE ]SCHEDULE HELP >

4. The two weld schedules setup above are now incorporated into the sample program shown at right. The first weld, which is calling for weld schedule 1, will use the currently active odd-numbered memory location/procedure (GMAW). The second weld, which is calling for weld schedule 2, will use the even-numbered memory location/procedure of the pair (Pulse). The Powerwave will automatically activate this even- numbered memory location.

5. Anytime a weld schedule is to be used with an even-numbered memory location, line 2 of the weld schedule detail screen must be set to “Program select 3”.

TESTWELD

1: J P [1] 100% CNT100 2: J P [2] 100% CNT100 3: J P [3] 100% FINE ARC START [1] 4: L P [4] 50 ipm FINE ARC END [1] 5: J P [5] 100% CNT100 6: J P [6] 100% CNT100 7: J P [7] 100% FINE ARC START [2] 8: L P [8] 25 ipm FINE ARC END [2] 9: J P [9] 100% CNT10010: J P [1] 100% CNT100

END

6. IMPORTANT: FOR THE WELD PROGRAM SELECT FUNCTION TO OPERATE , A SYSTEM VARIABLE MUST BE SET CORRECTLY: PRESS MENUS KEY, PRESS 0-NEXT PAGE, CURSER TO LINE SYSTEM AND PRESS ENTER. NEXT PRESS F1-TYPE, CURSER TO LINE VARIABLESAND PRESS ENTER. CURSER DOWN TO LINE “$AWEPCR” ( approx. line 26) AND PRESS ENTER TWO TIMES. CURSER TO LINE “$PRG_SEL_ENA” (approx. line 3), IT MUST READ TRUE; IF IT READS FALSE, PRESS F4-TRUE KEY, THEN POWER DOWN THEN UP , TO LOCK IN.

Collision Guard Setup Screen

To access the Collision Guard setup screen, press the Menus key, cursor to line Setup, Enter. Press the F1-Type key, cursor to line Collision Guard, Enter. The following screen now appears:

COL\GUARD\SETUP\\\\\\\\\\\\\\\\\\\\\\\\\ 1/3 1 Collision Guard status: ENABLED\ 2 Sensitivity: 100% 3 Sensitivity Macro Reg.: R[ 7] [ TYPE ] HELP ENABLED DISABLED

TEST\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\ 1/17 \\\1:J P[1] 100% CNT100 2:J P[2] 100% CNT100 3:J P[3] 40% FINE : Arc Start[1] 4:L P[4] 20.0inch/min FINE : Arc End[1] 5:J P[5] 100% CNT100 6: R[7]=120 7: COL GUARD ADJUST 8:J P[6] 100% CNT100 9:J P[7] 100% CNT100 10:J P[8] 100% CNT100 11: R[7]=140 12: COL GUARD ADJUST 13:J P[9] 40% FINE : Arc Start[1] 14:L P[10] 20.0inch/min FINE : Arc End[1] 15:J P[11] 100% CNT100 16:J P[1] 100% CNT100 [End] POINT ARCSTRT WELD_PT ARCEND TOUCHUP>

Press F1-INST, cursor to Registers, Enter. Cursor to line …=… , Enter. Cursor to lineR [ ], Enter. Key in desiredRegister number, 7 for this example, Enter. Cursor to lineConstant, Enter. Key in desired sensitivity setting, 120 for this example, Enter.

Press F1-INST, cursor to lineMacro, Enter. Cursor to line CG_ADJST, Enter.

SmoothMotion

JerkyMotion

SmoothMotion

TEST\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\ 1/15 \\\1:J P[1] 100% CNT100 2:J P[2] 100% CNT100 3:J P[3] 40% FINE : Arc Start[1] 4:L P[4] 20.0inch/min FINE : Arc End[1] 5:J P[5] 100% CNT100 6: COL DETECT OFF 7:J P[6] 100% CNT100 8:J P[7] 100% CNT100 9:J P[8] 100% CNT100 10: COL DETECT ON 11:J P[9] 40% FINE : Arc Start[1] 12:L P[10] 20.0inch/min FINE : Arc End[1] 13:J P[11] 100% CNT100 14:J P[1] 100% CNT100 [End] [ INST ] [EDCMD]>

Press F1-INST, cursor to lineCollision Detect,Enter. Cursor to either lineCol Detect On OrCol Detect Off,Enter.

Smooth Motion

Jerky Motion

Smooth Motion

COL\GUARD\SETUP\\\\\\\\\\\\\\\\\\\\\\\\\ 1/3 1 Collision Guard status: ENABLED\ 2 Sensitivity: 100% 3 Sensitivity Macro Reg.: R[ 7] 4 Collision Guard Error DO [ * ] 5 Collision Guard Enabled DO [ * ] [ TYPE ] HELP ENABLED DISABLED

Collision Guard Setup Screen (Ver. 6.41 and above)

TEST\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\ 1/15 \\\1:J P[1] 100% CNT100 2:J P[2] 100% CNT100 3:J P[3] 40% FINE : Arc Start[1] 4:L P[4] 20.0inch/min FINE : Arc End[1] 5:J P[5] 100% CNT100 6: COL GUARD ADJUST 120 7:J P[6] 100% CNT100 8:J P[7] 100% CNT100 9:J P[8] 100% CNT100 10: COL GUARD ADJUST 140 11:J P[9] 40% FINE : Arc Start[1] 12:L P[10] 20.0inch/min FINE : Arc End[1] 13:J P[11] 100% CNT100 14:J P[1] 100% CNT100 [End] [ INST ] [EDCMD]>

Press F1-INST, cursor to lineCollision Detect,Enter. Cursor to lineCol Detect Adjust, Enter.Press F-key for Direct,key in desired sensitivityvalue, Enter.

Smooth Motion

Jerky Motion

Smooth Motion

Collision Guard AdjustWith VER. 6.41and above

THRU – ARC – SEAM - TRACKING

WORKS BY UTILIZING WELD CURRENT FEEDBACK SIGNAL

STICKOUT LENGTH HAS A DIRECTEFFECT ON WELDING CURRENT.

AS STICKOUT LENGTH INCREASES,WELD CURRENT DECREASES.

AS STICKOUT LENGTH DECREASES,WELD CURRENT INCREASES.

THRU – ARC – SEAM - TRACKING

TORCH IS CENTERED IN THE WELD JOINT WHILE WEAVING

STICKOUT LENGTHIS THE SAME ON BOTHSIDES OF THE WEAVE.

THEREFORE, WELDINGCURRENT IS THE SAME ONBOTH SIDES OF THE WEAVE

STICKOUT LENGTHIS NOW MUCHSHORTER ON THISSIDE OF THE WEAVE

STICKOUT LENGTHIS NOW MUCHLONGER ON THISSIDE OF THE WEAVE

WELD JOINT HAS SHIFTED IN THIS DIRECTON

WELDING CURENTIS NOW HIGHER ONTHIS SIDE OF THEWEAVE

WELDING CURENTIS NOW LOWER ONTHIS SIDE OF THEWEAVE

THRU – ARC – SEAM - TRACKING

THRU – ARC – SEAM - TRACKING

THREE METHODS TO DETERMINE WELD CURRENT:

1. WELD STATUS SCREEN

2. WELD SCHEDULE SCREEN – F2 DETAIL

3. FRONT PANEL METER ON WELDING POWER SOURCE

THRU – ARC – SEAM - TRACKING

TOO LARGE OF AN ANGLE

MINIMUM 2 MILLIMETER WALL

LIMITATIONS

How Changes to the Position Register Affect the Weld

PR Element

Effects on the Weld

XThe position register X element elongates or shortens the weld. A positive X value adds to the weld length on both ends of the weld. A negative X value shortens both ends of the weld.

YThe position register Y element offsets the weld laterally. When facing the end of the weld, positive Y is to the right side of the weld. The lateral movement will be perpendicular to the tool.

ZThe position register Z element elevates the weld. Movement of the torch will be perpendicular to the weld path and aligned with the tool/path plane.

WThe position register W element changes the tool orientation by rotating about X. X is the weld path. This changes the torches work angle.

PThe position register P element changes the tool orientation by rotating about Y. Y is perpendicular to the torch. This changes the torches lead/lag angle relative to the weld path.

R The position register R element has no effect on the weld.

How Changes to the Position Register Affect the Weld

PR[13] UF:F UT:F CONF:NDB 000 X \\\\\0.000 mm W 0.000 deg Y ‑5.000 mm P 0.000 deg Z 5.000 mm R 0.000 deg DATA\Position\Reg\\\\\\\\\\\\\\\\\\\\\\\ 13/100PR[ 10: ]=R PR[ 11: ]=R PR[ 12: ]=* PR[ 13:\\\\\\\\\\\\\\\\]=*

PR[12] UF:F UT:F CONF:NDB 000 X \\\\\0.000 mm W 0.000 deg Y 5.000 mm P 0.000 deg Z 5.000 mm R 0.000 deg DATA\Position\Reg\\\\\\\\\\\\\\\\\\\\\\\ 12/100PR[ 10: ]=R PR[ 11: ]=R PR[ 12:\\\\\\\\\\\\\\\\]=* PR[ 13: ]=*