Programming with DRL
After setting the welding-related settings in DRL (welding conditions and weaving settings), execute the arc_sensing_enable(…) DRL to set the channel, current conversion ratio, and maximum correction amount.
When you want to use the arc sensing function, execute arc_sensing_set(mode = 1, …) before running the welding motion to set the arc sensing type, target current, gain, and bias values.
If you do not want to use the arc sensing function during the next welding motion after using it, you can set arc_sensing_set(mode = 0, …) to put the arc sensing function in standby mode.
P0 = posj(0,0,90,0,90,0)
movej(P0, v=50, a=50)
# Set Analog Welding
app_weld_enable_analog(ch_v_out=[1,1], spec_v_out=[0,0,300,10], ch_f_out =[2,1],
spec_f_out =[0,0,40,10], ch_v_in =[1,1], spec_v_in =[0,0,300,10], ch_c_in =[2,1],
spec_c_in=[0,0,40,10], ch_arc_on=1, ch_gas_on=2, ch_inching_fwd=3, ch_inching_bwd=4, ch_blow_out=5)
app_weld_set_weld_cond_analog(flag_dry_run=1, v_target=200, f_target=150, vel_target=10, vel_min=5,
vel_max=30, weld_proc_param=[0.5,0.3,2,1,0.7,0.4,0.7,0.6,1.5])
# Set Zigzag Weaving
app_weld_weave_cond_zigzag(wv_offset=[0,0], wv_ang=0, wv_param=[3,1])
# Enable Arc Sensing
arc_sensing_enable(daq_channel = 0, probe_ratio = 1, max_correction = [20, 10])
P00 = posx(100,300,500,0,180,0)
movel(P00 , vel=400, acc=400)
# Set Arc Sensing Parameter
# Regarding the case where you want to use arc sensing during welding motion: set mode 1
arc_sensing_set(mode = 1,type = 0,target_current = 160,gain = [100, 30], bias = [0, 0])
P1 = posx(500,300,300,0,180,0)
movel(P1, vel=30, acc=100, app_type=DR_MV_APP_WELD)
# Regarding the case where you do not want to use arc sensing during welding motion: set mode 0
arc_sensing_set(mode = 0,type = 0,target_current = 160,gain = [100, 30], bias = [0, 0])
P2 = posx(100,300,500,0,180,0)
movel(P2, vel=30, acc=100, app_type=DR_MV_APP_WELD)