Arc Welding Function

System- Teaching Pendant Operation
shortcut actions：

左侧功能按钮区：Left function button area
主菜单区 Main menu area
状态显示区Status display area
坐标指示区Coordinate indicating area
右侧功能按钮区Right function button area
通用显示区General display area
信息提示区Information prompted area
子菜单区Submenu area

welding process software - Easy to operate

arcing is successful or not. When the arcing is not successful, it can start again or move new position to start again.

3.Abnormal detection of welding machine

2.Anti collision detection function

When the welding gun collides with the workpiece and tooling, stop the robot in time to ensure safety and reduce equipment damage.

4.Breakpoint memory function

When the robot is abnormal or the workpiece surface defect causes arc break, the arc breaking point is automatically recorded, and after the exception is eliminated, it can be returned to any arc breaking point automatically to continue welding.

5. Rearc lap function：

When the overlap function is started, it can automatically return to the arc breaking point for welding when the arc is broken. During the overlap process, it can set the back distance, back drawing and re arc function,effectively reduce welding defects, ensure the continuity of welding seam and welding quality, reduce manual operation and improve welding efficiency.

1. Arc detection and offset function:

QJAR system has powerful welding application function process software, which can meet the welding process requirements in different environments

6.Fish-scale process:

Fish scale spot welding: when do fish scale spot welding , the robot does not move and stops welding at a certain point. Spot welding time belongs to welding time, cooling time is non-welding time, and moving distance between point to point.

Fish scale ripple welding: when do fish scale welding, the robot moves , and the welding is carried out in the process of movement. Dynamic welding time belongs to welding time, cooling time is non-welding time, and moving distance between point to point.

Dynamic detection of welding power equipment communication signal, air supply, wire supply, etc. if abnormality welding occur, arc break and record the break point arc.

Function Introduction

gun while welding swings to the left and right periodically at a specific angle to the welding direction.It is commonly used in the fillet weld and V-groove welding of medium and heavy plate though improve the welding strength by increasing the weld width

Function Introduction

刀具坐标系+Z方向
Tool coordinate system + Z direction
间距=焊接速度/频率
Spacing = welding speed / frequency
横摆平面
Horizontal pendulum plane
焊接速度
Welding speed
前行方向
Forward direction
间距Spacing
振幅Amplitude
操作角Operating Angle

Turn the mode switch to the teaching mode
2. Select the appropriate tool coordinate system.
3.Enter the program list interface.
Click - ,Enter the program list interface
4. Click the button in the submenu area
5. In the pop-up window, enter the name of the new program (e.g.: 002).

Press and hold the safety switch, and then through the coordinate key on the teaching box, move the end of the robot to the program,press 1(one) position, click submenu
The command edit window will pop up
Atttention
1. click<←><→>,switch player and move in different window
2. this is for selection, for <↑><↓> selection
3. this is for input window,for data imput

QJAR System Programming For Arc Welding Program

Basic programming operation

command line is displayed in the program edit window. as follows

QJAR System Programming For Arc Welding Program

Basic programming operation

< arcstart >, and the following window will pop up.
After entering the corresponding parameters as required, click the confirm key, and the command line will be displayed in the program editing window.

Basic programming operation

QJAR System Programming For Arc Welding Program

communication while welding, in the setting interface for welding parameter, the setting of ArcStart parameters should be consistent with the welding parameters, and the ArcEnd parameters need not be considered.)

Basic programming operation

QJAR System Programming For Arc Welding Program

the above steps, the instance program is created.
1. click<←><→>,switch player and move in different window
2. is for selection, for <↑><↓> selection.
3. is for input,for data imput.
4. After inputting the corresponding parameters as required, press confirmation.The command line is displayed in the program edit window.

Basic programming operation

QJAR System Programming For Arc Welding Program

editing program

QJAR System Programming For Arc Welding Program

Arc programming operation

B=100
10、ArcEnd
11、MJV=40% B=100
12、MJV=40% B=100

Setting of sudden changed current and voltage: < programming instruction > - < arc welding Instruction > - < arcivc >
Welding mode switching: < programming instruction > - < arc welding Instruction > - < setworkmode >
Note: ArcStart mode and related welding process information can be set in arcstart file; if current and voltage sudden changed is involved while switching the welding mode, ArcIVC instruction can be added before SetWorkMode instruction, and current and voltage parameters can be set

QJAR System Programming For Arc Welding Program

Arc welding instruction should be programmed to operate
Application example of arc welding function

Power Source

Support Aotai and Megmeet and other analog/digital welding source.

The welding source configuration can be settled and configured by pressing the button to select the model.The operation is simple and fast.

Analog welding power, current and voltage is set with ten gear value with multiple intervals, which can more accurately match the current and voltage

Analog communication

Digital communication

introduction

The multi-layer welding function has the following two functions
Memory and reproduction function of welding path: This is a function of storing the compensation data obtained by tracking sensors such as arc sensor in the memory called "path data", which should be used for the second welding after the first time.
Welding path offset function: This is a function based on the data of the position register to offset the welding path after the second layer on the whole. At this time, the offset method is a special method for multi-layer welding function.

< process Settings > - < welding process > - < multi-layer and multi-channel > to open the multi-layer and multi-channel parameter configuration interface
File number: adjustable part range 1-10 note: description can be added
Total number of layers: set the total number of passes (1-10) of multi-layer multi pass welding;
Starting layers : Welding starts from which layer
Total number of welding layers: means total number of welding layers
Note: if the total number of layers is 4, the current number of layers can only be selected from 1-4

open the level setting interface, as shown in the figure on the right.
Current number of layers: select the range of layers (1-10)
Explanation of parameter meaning
Offset of starting point: set the offset from the starting point and X direction, parameter setting range [- 15,15]
Offset of end point: set the offset from the end point in and X direction, parameter setting range [- 15-15]
Welding parameters: the part number of the current layer adjustment welding process, 0 makes the instruction default welding part number, other parameters adjust the corresponding welding part parameters
Swing parameter: adjust the swinging part number of the current layer. 0 makes the instruction default welding part number, and its parameters are adjusted to the parameters of the swinging part.

along Y axis: set the offset distance of the current layer along Y direction (set 0 with not offset)
Offset along Z axis: set the offset distance of the current layer along Z direction (set 0 with not offset)
Rotate around X axis: Sets the degree of rotation in the forward (x) direction around the track
Rotate around Y axis: Sets the degree of rotation in the forward (Y) direction around the track
Rotate around Z axis: Sets the degree of rotation in the forward (Z) direction around the track
Swing switch:Whether the current layer is set to swing arc parameter function setting
Arc tracking switch:Whether the current layer is set to arc tracking function setting
Welding mode switch：Whether the current layer is set to welding parameter setting

system direction

3.Welding coordinate system description: robot forward direction is X direction, welding gun direction is Z direction, X and Z jointly determine with Y direction

The trajectory offset principle of multilayer and multichannel welding

4.Based on the coordinate system, the direction of welding is + X direction, the direction of welding gun is + Z direction, and the direction perpendicular to XZ plane is + y direction. The offset is offseted on the original welding track. As shown in the figure below:

MJ V=40.00% B=0 T=1
2. MJ V=40.00% B=0 T=1
3. VA10=0
4. WHILE(VA10<3)
5. INC VA10 // VA10 Automatic plus one
6. MultilayerOn(1)// Multi-layer, multi-pass art start
7. MJ V=80% B=0 T=1
8. ML V=100.00mm/s B=0 T=1 // The starting point of the weld (this procedure must not be omitted and should be in the same line as the starting point and not too far apart, otherwise it may cause calculation errors. The program can only be ML with a speed of 100, too small a speed does not move noticeably, it is almost motionless).

9. ArcStart(1,1) // Arc starting welding
10. Weaveon(1) // Weave start
11. ArcTrackStart(1) // Arc tracking begins
12. ML V=8mm/s B=0 T=1 // Weld seam
13. ML V=8mm/s B=0 T=1 // Weld seam
14. MC V=8mm/s B=0 T=1 // Circular arc welding seam
15. MC V=8mm/s B=0 T=1 // Circular arc welding seam
16. ArcTrackEnd // End of arc tracking
17. Weaveoff // End of swing
18. ArcEnd // End of welding
19. MultilayerOff // End of multi-layered multi-pass work
20. ML V=200mm/s B=100 T=1 // Transition point
21. MJ V=80% B=100 T=1 // Transition point

MJ V=80% B=0 T=1 // Transition point
23. ENDWHILE
Note: In this program, the coordinate system follows the x-axis (x+) in the direction of the weld, the y-axis (y+) perpendicular to the weld and the z-axis (z+) in the direction of the gun lift. When teaching, the number of layers is set to the current number of layers, then the number of layers shown during teaching is the current set number of layers.

sense mode, the workpiece is grounded and a (high) low voltage is applied through the nozzle or wire. When the robot is moving along the position finding path and the nozzle or wire comes into contact with the workpiece, the level is (raised) pulled low, a contact signal is generated, the robot stops moving and the position data at the time of contact with the workpiece is recorded. The path is corrected using the deviation value of the current position from the programmed position to give the true target position.

the signal to the robot and connects it to pin 13 of DB15. The robot connects the welding signal to IO terminal Y12 (R2 interface IO board)

board simulation welding machine

arc welding process > - < 1 process parameter > - <3 position finding process parameter >

user calibration to comply with the right-hand spiral method
File number:call the file number for the contact position-finding condition, including all the contact position-finding parameters.
Note: customers can add note information to facilitate identification.
Position-finding flag: the data writing switch of the relevant locating reference position corresponding to the process number in the program. When it is turned on, the position to be found
As basic data. After closing, the reference data is protected after writing.
At present, when the positioning flag is valid, after the basic position-finding is successfully completed, the positioning flag switch will automatically become invalid, and it can continue directly to run.

number: enter the user coordinate system number of calibration (determine direction)
Search distance: the search distance from the start point to the workpiece direction. If it exceeds this distance, the system will give an alarm.
Search speed: the speed of moving from the starting point to the workpiece. The smaller the search speed is, the higher the accuracy is.
Return speed: set the return speed when the welding wire or spray is in contact with the workpiece.
Return distance: set the automatic return distance. When the distance exceeds the starting point of position finding, the robot will end at the starting point of position finding and will not run.

Beyond the deviation range: set the deviation range between the search point and the flag mark. Beyond the scope, the system prompts that the deviation of the workpiece is large
Offset point information: it is used to check the relationship with the basic position after locating
Flag position information: used to view flag position information after positioning.

pos[1]
SearchENd
TouchOffset(P1)
TouchOffsetEnd

Conditions of use: the workpiece only moves in one direction, the position finding direction must be in the direction of movement
Note: The flag must be turned on when searching for the reference position.

ML Tool =1 U=1 //a point
MLSearch U=40+x SEACH P1 //After finding 1 point in X direction, it will automatically back off.
50mm，Recording of site search 1
ML Tool=1 U=1 //e point
MLSearch U=1+y SEACH P1// After searching 1 point in the X-direction, the search is automatically backed up by 50 mm and the search point 1 is recorded
SearchENd //End of position search
TouchOffset //Start offset
ML Tool =1 U=1
...
TouchOffsetEnd // End of Offset

Condition:Similar as 1D, it is to transfer on any two planes of XYZ on the workpiece coordinate, similar as 1D, and find one point in each of the two changing directions
Note: the flag needs to be turned on when finding the reference position

position start
ML Tool =1 U=1 //Transition point
MLSearch U=40+x SEACH P1 // After finding 1 point in X direction, it will automatically back 50 mm and record the location 1
ML Tool=1 U=1 //Transition point
MLSearch U=1+y SEACH P1// After searching for 1 point in the Y-direction, the search is automatically backed up by 50 mm and the search point 1 is recorded
ML Tool=1 U=1//Transition point
MLSearch U=1 +z SEACH P1//After searching for point 1 in the z-direction, the search is automatically backed off by 50 mm and the search point 1 is recorded
SearchENd //End of position search
TouchOffset //Start offset
ML tool=1 U=1
...
TouchOffsetEnd // End of Offset

Condition:Similar as 2D, it is to transfer on any three planes of XYZ on the workpiece coordinate, similar as 2D, and find one point in each of the three changing directions
Note: the flag needs to be turned on when finding the reference position

// finding position start
ML V=100 TOOL=1 U=1 //Transition point
MLSearch TOOL=1 U=1+x SEACH P1 //After finding 1 point in X direction, it will automatically back 50 mm and record the location 1
ML V=100 TOOL=1 U=1 // Transition point
MLSearch TOOL=1 U=1 +x SEACH P2 //After searching for 2 points in the X-direction, the search is automatically backed up by 50 mm and the search point 2 is recorded
ML V=100 TOOL=1 U=1 // Transition point
MLSearch TOOL=1 U=1+y SEACH P1 //After searching 3 points in the Y-direction, the search is automatically backed up by 50 mm and the search point 1 is recorded
ML V=100 TOOL=1 U=1 //Transition point
MLSearch TOOL=1 U=1 +y SEACH P2 //After searching 4 points in the Y-direction, the search is automatically retraced by 50 mm and the search point 2 is recorded.
SearchEnd //End of position search
TouchOffset P[1] //Start offset P1
ML V=100 TOOL=1 U=1
…… //Offset data section
TouchOffsetEnd // End of Offset

使用条件： 绕工件上的X,Y,Z任意一个轴（或大地坐标的Z轴）旋转和任意2个方向移动。
Condition: rotate around any axis of X, Y, Z (or Z axis of geodetic coordinate) on the workpiece and move in any two directions.
指令说明：在一个方向上寻2个点，确定线；另外一个方向寻2个点，线和点要依次对应寻位产品的点和线。
Instruction description: find 2 points in one direction to determine the line; In the other direction find two points, and the line and point should correspond to the point and line of the product in turn.
注意：寻位基准位置时需要把旗标打开
Note: the flag needs to be turned on when finding the reference position

// finding position start
ML V=100 TOOL=1 U=1 //Transition point
MLSearch TOOL=1 U=1+x SEACH P1 //After finding 1 point in X direction, it will automatically back 50 mm and record the location 1
ML V=100 TOOL=1 U=1 // Transition point
MLSearch TOOL=1 U=1 +x SEACH P2 //After searching for 2 points in the X-direction, the search is automatically backed up by 50 mm and the search point 2 is recorded
ML V=100 TOOL=1 U=1 // Transition point
MLSearch TOOL=1 U=1+y SEACH P1 //After searching 3 points in the Y-direction, the search is automatically backed up by 50 mm and the search point 1 is recorded
ML V=100 TOOL=1 U=1 //Transition point
MLSearch TOOL=1 U=1 +y SEACH P2 //After searching 4 points in the Y-direction, the search is automatically retraced by 50 mm and the search point 2 is recorded.
SearchEnd //End of position search
TouchOffset P[1] //Start offset P1
ML V=100 TOOL=1 U=1
…… //Offset data section
TouchOffsetEnd // End of Offset

// Bit search starts, result stored to P1 RESULT STORED TO P1
ML V T=1 U=1 //Transition point
MLSearch U=1+x SEACH Pos1 //After searching 1 point in the X-direction, the search is automatically backed up by 50 mm and the search point 1 is recorded
After finding 1 point in X direction, it will automatically back 50 mm and record the location 1
ML V T=1 U=1 //transition point
MLSearch U=1+x SEACH Pos2 // After searching for 2 points in the X-direction, the search is automatically backed up by 50 mm and the search point 2 is recorded
ML V T=1 U=1 //Transition point
MLSearch U=1+y SEACH Pos1 //After searching 3 points in the Y-direction, the search is automatically backed up by 50 mm and the search point 1 is recorded
ML V T=1 U=1 //Transition point
MLSearch U=1+y SEACH Pos2 //After searching 4 points in the Y-direction, the search is automatically retraced by 50 mm and the search point 2 is recorded.
ML V T=1 U=1 //Transition point
MLSearch U=1-z SEACH Pos1 //After searching for 5 points in the Z-direction, the search is automatically set back 50 mm and the search point 1 is recorded
ML V T=1 U=1 //Transition point
MLSearch U=1-z SEACH Pos2 //After searching for 6 points in the Z-direction, the search point is automatically set back 50 mm and the search point 2 is recorded
ML V T1 U=1 //Transition point
MLSearch U=1-z SEACH Pos3 //After searching for point 7 in the Z-direction, the search is automatically set back 50 mm and the search point 3 is recorded
SearchEnd //End of position search
TouchOffset P[1] //Start offset P1 value
ML V T=1 U=1
…… //Offset data section
Offsetend // End of Offset

anywhere around X,Y,Z
Position finding conditions: find 3 points in one direction to determine the face; find 2 points in another direction to determine the line; find 2 points in the last direction to find the position.
Note: The flag is to be turned on when locating the reference position.

of procedures
SearchStart 1 P1 //Position search begins
ML V=100 T=1 //a1-point transition
ML V=50 T=1 U=1+y SEACH Pos1 //Point a1 seeks point c1, automatically retires point d1, data stored in P1
A1 points to find C1 points, automatically back D1 points, data storage P1
ML V=100 T=1 //a2-point transition
ML V=50 T=1 U=1 +y SEACH Pos2 //Point a2 seeks point c2, automatically retires point d2, data stored in P2
ML V=100 T=1 //a3-point transition
ML V=50 T=1 U=1 +x SEACH Pos3 //Point a3 seeks point c3, automatically retires point d3, data stored in P1
SearchEnd //End of position search
TouchOffsetend P[1] // Start offset OP1
MC U=1 //Offset data section
MC U=1
...................
Offsetend // End of Offset

Conditions of use: translation in any 2 directions (X,Y in user or geodetic coordinates)
Search conditions: Select the inner and outer diameter for the contact search type in the search parameters
Direction setting: search in X/Y direction
Note: the flag needs to be turned on when finding the reference position