Welding robot program editing

1、 Create welding procedure [teaching of welding seam]. 1. Turn on the power switch on the control cabinet in the “ON” state.
2. Set the operation mode to “TEACH” → “Teaching mode”
1. Enter the program editing status:
1.1. First select [Program] list on the main menu and open it;
1.2. Select [New Program] from the main menu of [Program]
1.3. Press the [Select] key after displaying the new program screen
1.4. After the character screen is displayed, enter the program name. Now, “TEST” is used as an example to illustrate the new program name;
1.5. Move the cursor to the letters “T”, “E”, “S” and “T” and press the [Select] key to select each letter;
1.6. Press the [Enter] key to log in;
1.7. After moving the cursor to “Execute” and confirming, the program “TEST” will be logged in, and the initial status of the program “NOPCEOO” and “ENDCOOL” will be displayed on the screen
1.8. Edit the trajectory of the robot (take robot welding linear weld as an example);
2. Move the robot to a position away from safety and convenient for operation in the surrounding environment, and input the program (001);
2.1. Grasp the safety power switch, turn on the servo power supply, and the robot enters the actionable state;
2.2. Use the axis operation key to move the robot to the starting position (the starting position is filmed at the safe medical history and operation preparation position);
2.3. Press the [Interpolation Method] key to set the interpolation method as joint interpolation. Input the joint interpolation command displayed in the buffer display line, ‘MOVJ “→” “MOVJ,, VJ=0.78″
2.4. Place the cursor at “00000″ and press the [Select] key;
2.5. Move the cursor to the right speed “VJ=* *”, press the [Conversion] key+the cursor “Up and Down” key to set the playback speed. If the set speed is 50%, the screen will display “→ MOUVJVJ=50%”, or you can move the cursor to the right speed. After pressing the [Select] key on “VJ=* * *”, you can directly enter the speed to be set on the screen, and then press the [Enter] key to confirm.
2.6. Press the [Enter] key to enter the program point (i.e. line number 0001)
3. Determine the robot’s operation posture (near the operation start position)
3.1. Use the axis operation key to make the robot pose become the working posture, and then move to the corresponding position;
3.2. Press the [Enter] key and enter program point 2 (0002);
3.3. Keep the posture of program point 2 unchanged and move to the starting position of operation;
3.3.1. To keep the posture of program point 2 inconvenient, press the [Coordinate] key, set the robot coordinate as a rectangular coordinate system, and use the axis operation key to move the robot to the position where the operation starts (before moving, press the manual speed [High] [Low] key to select the speed of the welding gun moving in the teaching);
3.3.2. Press the [Select] key at the line number 0002
3.3.3. Move the cursor to the speed on the right, press the [Convert]+cursor “up and down keys on VJ=* * * to set the playback speed until the set speed is the desired speed (you can also move the cursor to the speed VJ=* * *, press the [Select] key, enter the desired speed value, and press the [Enter] key to confirm);
3.3.4. Press the [Enter] key and enter program point 3 (line number 0003);
3.3.4.1. Move the cursor to “0003″, press the [Arc striking] key+[Enter] key, and enter the “Arc striking” command (line 0004) (“Arc striking” is “ARCON”)
3.3.4.2. Move the cursor to the line number 0003 and press the [Arc striking] key to display the “ARCON” command and the conditions for arc striking in the buffer display area;
3.3.4.3. Modify the additional arc striking conditions in the arc striking instruction according to the actual situation of the welding workpiece;
3.3.4.4. Press the [Enter] key to enter the “arc striking” command (line number 0004);
3.3.4.5. Specify the operation point position (operation end position)
3.3.4.6. Use the axis operation key to move the robot to the end position of the welding operation. From the start position to the end position, it is not necessary to * * move along the weld seam. To avoid colliding with the workpiece, it can move away from the workpiece;
3.3.4.7. Press the [Interpolation Method] key to set the interpolation method to linear interpolation (MOVL) or place the cursor on “MOVJ”, press the [Select] key, and then press the [Conversion]+cursor up and down keys to adjust and select the interpolation method, and then press the [Enter] key;
3.3.4.8. Press the [Select] key on the line number 0004;
3.3.4.9. Move the cursor to the right speed “V=* * *”, and press [Convert]+cursor up and down keys to set the speed;
3.3.4.10. Press the [Enter] key and enter program point 4 (line number 0005);
3.4. Press the [Arc end] key to input (arc end command is “ARCOF”)
3.4.1. Move the cursor to the line number 0005, press the [Arc ending] key, and then the buffer display area will display the “ARCOF” command to end the arc
3.4.2. Modify the arc stopping conditions of the additional items of the arc stopping order according to the actual situation of the welding workpiece;
3.4.3. Press the [Enter] key to input the arc ending command (line 0006);
3.5. Move the robot to a position that does not collide with the workpiece and fixture;
3.5.1. Press the manual speed [high] key to set it to high speed (the manual speed [high] key only displays the speed during teaching, and the playback runs at the defined speed);
3.5.2. Use the axis operation key to move the robot to the position where it does not collide with the fixture;
3.5.3. Press the [Interpolation Method] key to set the interpolation method as joint interpolation (MOVJ);
3.5.4. With the cursor on the line number 0006, press the [Select] key → MOVJ VJ=15;
3.5.5. Move the cursor to the speed VJ=15 on the right, press the [Convert]+Up and Down keys to set the speed (or press the [Select] key, directly enter the speed to be set, and then press the [Enter] key to log in the speed;
3.5.6. Press the [Enter] key to enter the program point (line 0007)
3.6. Move the robot to the starting position;
3.6.1 Return the cursor to 0001 and press the [Forward] key to move the robot to program point 1;
3.6.2. Then move the cursor to the line number 0007, press the [Enter] key, and enter program point 8 (line 0008).

2、 Confirm the track operation in the set program;
1. Move the cursor to program point 0001;
2. Press the manual speed [high] [low] key to set the speed key;
3. Press the [Forward] key to confirm each program point through the robot action, and press the [Forward] key once to move the robot to a program point;
4. You can also move the cursor to the program point line 0001, press the [Interlock]+[Trial Run] key, and the robot will continuously reproduce all program points, and then stop operation after one cycle
3、 In welding, sometimes many of the set programs are not suitable for actual production, so it is necessary to repair the program (including inserting program points again, deleting program points, modifying the position data of program points, etc.);

1. Insert program point;
1.1. Open the program content (insert between program points 3, 4, as a column);
1.2. Press the [Forward] key to move the robot to program point 3;
1.3. Use the axis operation key to move the robot to the desired insertion position;
1.4. Press the [Insert] key;
1.5. Press the [Enter] key to insert the program point. The line number of the inserted program point is (0004),
2. Delete program points (in 3 and 4 places);
2.1. Press the [Forward] key to move the robot to the program point 3 to be deleted;
2.2. Press the [Delete] key;
2.3. Press the [Enter] key to delete program point 3;

3. Modify the position data of program points (in 3 digits of program points);
3.1. Move the cursor to program point 3;
3.2. Press the [Forward] key to return the robot to program point 3;
3.3. Use the axis operation key to move the robot to the modified position;
3.4. Press the [Modify] key;
3.5. Press the [Enter] key to modify the position data of the program point;
4. Set welding conditions: (ARCON ARCOF ARCOF);
4.1. Open the program content first;
4.2. Move the cursor to the previous line number of the program point to be welded;
4.3. Press the [Arc striking] key or the [Command list] key to select the ARCON command in the program [Operation]. The buffer display area has the ARCON command and additional conditions;
4.4. Press the [Enter] key to automatically generate the “arc striking” command in the program;
4.5. There are three ways to set arc-striking conditions (one is to set various conditions as additional items, two is to use arc-striking file method ASF # (X), and three is without additional items)

5. Method of setting welding conditions with additional items;
5.1. Select the ARCON command in the command area (the buffer area displays the ARCON command);
5.2. Press the [Select] key (to display the detailed editing screen and select “Not used”;
5.3. Select “Not used” (display the selection dialog box);
5.4. Select “AC=* * (when the arc striking condition has been set in the additional item of ARCON command, the detailed editing screen will be displayed);
5.5. Input welding conditions (set each welding condition);
5.6. Press the [Enter] key (the set content is displayed in the input buffer);
5.7. Press the [Enter] key to log in the program;
5.8. If you do not want to log in to the set program, press the [Clear] key to return to the program content screen;

6. Use the arc striking condition file;
6.1. Select the ARCON command in the command area (enter the buffer line to display the ARCON command);
6.2. Press the [Select] key (display the detailed editing screen);
6.3. Select “Not used” (display the selection dialog box);
6.4. Select ASF # () (display the detailed editing screen);
6.5. Set the file number (specify the file number 1~64, move the cursor to the file number, press the [Select] key → enter the file number with numerical value and press the [Enter] key;
6.6. Press the [Enter] key (the set content is displayed in the input line);
6.7. Press the [Enter] key (the set content is logged into the program);
6.8. If you do not want to log in the set file content, press the [Clear] key to return to the program content screen;

7. Methods without additional items;
7.1. Select the ARCON command in the command area (enter the ARCON command in the buffer line);
7.2. Press the [Select] key (display the detailed editing screen);
7.3. Select ASF # () (display the selection dialog box);
7.4. Select “Not used”;
7.5. Select the [Enter] key, and the set content is in the input buffer line;
7.6. Press the [Enter] key to log the set content into the program;
7.7. If you do not want to log in the set content, press the [Clear] key to return to the program content screen

4、 Set welding conditions (current and voltage commands) respectively;
1. Log in to AECSET command;
1.1. Move the cursor to the address area;
1.2. Press the [Command List] key (to display the command list dialog box);
1.3. Select “Operation”;
1.4. Select ARCSET command (input buffer display ARCSET command);
1.5. Press the [Select] key (display the detailed editing screen);
1.6. Set the welding conditions (move the cursor to the set item, press the [Select] key, enter the welding conditions with the numerical key, and then press the [Enter] key. When adding additional items, select “Unused” in the selection dialog box to delete additional items, and also move the cursor to the additional items you want to delete, and press the [Select] key to select “Unused”;
1.7. Press the [Enter] key (the set content is displayed in the buffer line);
1.8. Press the [Enter] key (the set content is entered into the program. When you do not want to log in the set content, press the [Clear] key to return to the program content screen);
2. Set arc extinguishing conditions (arc filling pit treatment);
1. Press the [Arc extinguish] key and enter the arc extinguish command (when using the [Command List] key to log in the AECOF command, select “Operation” in the command;
2. Log in to ARCOF method;
2.1. Press the [Arc extinguishing] key
2.2. Press the [Enter] key;
2.3. Set the arc extinguishing condition (ARCOF has three methods: 1. Set various conditions as additional items; 2. Use the arc extinguishing condition method; 3. Without additional items);

3. Method of setting conditions as additional items;
3.1. Select the ARCOF command in the command area (enter the buffer to display the ARCOF command);
3.2. Press the [Select] key (display the detailed editing screen);
3.3. Select “Not used” (display the selection dialog box);
3.4. Select “AC=”;
3.5. Input welding arc stopping conditions (set each welding condition);
3.6. Press the [Enter] key (enter the conditions set for buffer line display);
3.7. Press the [Enter] key (the set content is logged into the program);
3.8. If you do not want to log in the set content, press the [Clear] key to return to the program content screen;

4. Use the arc extinguishing condition method;
4.1. Select the ARCOF command in the command area (the input buffer line displays the ARCOF command);

4.2. Press the [Select] key (display the detailed editing screen);
4.3. Select Not Used (the selection dialog box will be displayed);
4.4. Select “AEF # ();
4.5. Set the document number (1~12 move the cursor over the document number, press the [Select] key to confirm that the document number is entered with the numeric key, and press the [Enter] key;
4.6. Press the [Enter] key (the set content is displayed in the input buffer line);
4.7. Press the [Enter] key (the set content is entered into the program);
4.8. If you do not want to log in the set content, press the [Clear] key to return to the program content screen)
5. Method of setting welding conditions with additional items;
5.1. Select the ARCON command in the command area (the buffer area displays the ARCON command);
5.2. Press the [Select] key (to display the detailed editing screen and select “Not used”;
5.3. Select “Not used” (display the selection dialog box);
5.4. Select “AC=* * (when the arc striking condition has been set in the additional item of ARCON command, the detailed editing screen will be displayed);
5.5. Input welding conditions (set each welding condition);
5.6. Press the [Enter] key (the set content is displayed in the input buffer);
5.7. Press the [Enter] key to log in the program;
5.8. If you do not want to log in to the set program, press the [Clear] key to return to the program content screen;

6. Use the arc striking condition file;
6.1. Select the ARCON command in the command area (enter the buffer line to display the ARCON command);
6.2. Press the [Select] key (display the detailed editing screen);
6.3. Select “Not used” (display the selection dialog box);
6.4. Select ASF # () (display the detailed editing screen);
6.5. Set the file number (specify the file number 1~64, move the cursor to the file number, press the [Select] key → enter the file number with numerical value and press the [Enter] key;
6.6. Press the [Enter] key (the set content is displayed in the input line);
6.7. Press the [Enter] key (the set content is logged into the program);
6.8. If you do not want to log in the set file content, press the [Clear] key to return to the program content screen;

7. Methods without additional items;
7.1. Select the ARCON command in the command area (enter the ARCON command in the buffer line);
7.2. Press the [Select] key (display the detailed editing screen);
7.3. Select ASF # () (display the selection dialog box);
7.4. Select “Not used”;
7.5. Select the [Enter] key, and the set content is in the input buffer line;
7.6. Press the [Enter] key to log the set content into the program;
7.7. If you do not want to log in the set content, press the [Clear] key to return to the program content screen

4、 Set welding conditions (current and voltage commands) respectively;
1. Log in to AECSET command;
1.1. Move the cursor to the address area;
1.2. Press the [Command List] key (to display the command list dialog box);
1.3. Select “Operation”;
1.4. Select ARCSET command (input buffer display ARCSET command);
1.5. Press the [Select] key (display the detailed editing screen);
1.6. Set the welding conditions (move the cursor to the set item, press the [Select] key, enter the welding conditions with the numerical key, and then press the [Enter] key. When adding additional items, select “Unused” in the selection dialog box to delete additional items, and also move the cursor to the additional items you want to delete, and press the [Select] key to select “Unused”;
1.7. Press the [Enter] key (the set content is displayed in the buffer line);
1.8. Press the [Enter] key (the set content is entered into the program. When you do not want to log in the set content, press the [Clear] key to return to the program content screen);
2. Set arc extinguishing conditions (arc filling pit treatment);

1. Press the [Arc extinguish] key and enter the arc extinguish command (when using the [Command List] key to log in the AECOF command, select “Operation” in the command;
2. Log in to ARCOF method;
2.1. Press the [Arc extinguishing] key
2.2. Press the [Enter] key;
2.3. Set the arc extinguishing condition (ARCOF has three methods: 1. Set various conditions as additional items; 2. Use the arc extinguishing condition method; 3. Without additional items);

3. Method of setting conditions as additional items;
3.1. Select the ARCOF command in the command area (enter the buffer to display the ARCOF command);
3.2. Press the [Select] key (display the detailed editing screen);
3.3. Select “Not used” (display the selection dialog box);
3.4. Select “AC=”;
3.5. Input welding arc stopping conditions (set each welding condition);
3.6. Press the [Enter] key (enter the conditions set for buffer line display);
3.7. Press the [Enter] key (the set content is logged into the program);
3.8. If you do not want to log in the set content, press the [Clear] key to return to the program content screen;
4. Use the arc extinguishing condition method;
4.1. Select the ARCOF command in the command area (the input buffer line displays the ARCOF command);
4.2. Press the [Select] key (display the detailed editing screen);
4.3. Select Not Used (the selection dialog box will be displayed);
4.4. Select “AEF # ();
4.5. Set the document number (1~12 move the cursor over the document number, press the [Select] key to confirm that the document number is entered with the numeric key, and press the [Enter] key;
4.6. Press the [Enter] key (the set content is displayed in the input buffer line);
4.7. Press the [Enter] key (the set content is entered into the program);
4.8. If you do not want to log in the set content, press the [Clear] key to return to the program content screen)

5、 Contents without additional items;
1. Select the ARCOF command in the command area (the input buffer line displays the ARCOF command);
2. Press the [Select] key (display the detailed editing screen);
3. Select AEF # () or AC=* * * (display the selection dialog box);
4. Select ‘Not used’;
5. Press the [Enter] key (enter the buffer line display setting);
6. Press the [Enter] key (the set content is entered into the program);
7. If you do not want to log in the set content, press the [Clear] key to return to the program content screen;
8. Confirm action (check operation); Carry out a simulation experiment on the set program track. In the reproduction mode, call out the “check operation” line for track confirmation;
9. Press the [Region] key on the reproduction screen of the program;
10. Select the [Utility] toolbar;
11. Select the set special operation user (display the special operation screen);
12. Select ‘train inspection operation’ (press the [Select] key each time to exchange the valid, invalid and alternative;
13. Select “Valid”;
14. Turn on the [Servo power] key;
15. Move the cursor to program point 1 and press the [START] key, and the robot will check itself;
16. Fine adjustment of welding conditions

6、 Fine adjustment of welding conditions;
1. Carry out welding using the adjusted procedure;
2. Conduct fine adjustment of welding conditions from the weld appearance (adjust the welding current and voltage according to the weld formation).

7、 Production;
1. Set the operation mode to ‘reproduction’ mode;
2. Select the submenu [Select Program] in the [Program] line of the main menu and open it;
3. Move the cursor to the program to be selected for welding;
4. Check the program track;
5. After inspection, move the cursor to ’0001′, set the operation mode to ‘reproduction mode’ and press’ START ‘to weld.