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Adaptive Welding

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Mihail Avramov
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227 views2 pages

Adaptive Welding

Uploaded by

Mihail Avramov
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Adaptive Welding

Basic Description

FANUC Robotics has taken its


proven arc welding process
technology and combined it with
the joint sensing capabilities of
the Servo Robot sensor to offer a
real time adaptive welding process.
Operating within the ArcTool
application software is a user-
definable adaptive algorithm that
utilizes sensor feedback to
dynamically adjust welding
parameters. These parameters
include weaving, travel speed,
voltage and wire feed speed to
volumetrically fill the supported
joint designs. This ArcTool option
enables the robot to adapt the
welding process dynamically as
the joint geometry changes,
thereby increasing the reliability and
productivity of the welding operation.

A user-defined algorithm, providing ■ ArcTool application software ■ A user-definable adaptive


infinite flexibility, controls the offers an easy-to-use, menu- algorithm controls the welding
adaptability of the process. There driven user interface allowing process, making the necessary
are no look-up tables limiting the process optimization from a process changes to achieve
degree of adaptation. Seamless single source. the desired fill volume.
integration offers complete process ■ Flexibility to add or delete ■ Infinitely adjustable algorithm
control through the robot teach welding passes without gives the user the control to
pendant. Adaptive Welding with the extensive reprogramming customize for specific
Servo Robot sensor has the flexibility or parameter development. applications, welds or
to support part finding, seam finding, individual joints.
seam tracking, coordinated motion, ■ Simplified teach pendant
adaptive process control and multi- programming structure reduces ■ Pass-specific control gives
pass welding with root pass programming and setup time. the ability to enable or disable
memorization (MP/RPM). This ■ All the data is stored in the the adaptive process between
flexibility improves weld quality teach pendant header, which passes as well as define the
and permits robotic welding on simplifies file saving and process control.
applications not previously considered. program copying. ■ Includes serial communication
■ Weld joint based programming between robot controller and
Benefits supports all joints detected by vision system.
the Servo Robot sensor. ■ Simplified programming
■ Coordinated motion optimizes structure controlling the
weld position while adapting ■ Cycle times are optimized by
tracking while welding and weld sequence and weld
to volumetric fill. pass direction minimizes
weaving.
■ Coordinated jogging eases distortion.
teaching with fewer points Features ■ Detects and compensates
to achieve weld quality. for joint mismatch, optimizing
■ Multi-pass with Root Pass ■ Adaptive process does not fill as needed, which improves
Memorization (RPM) allows use look up tables and allows weld quality.
adaptive multi-pass welds infinite control of the welding
without additional sensor scans. process.
Adaptive Pass Specific Welding Control:
Volts, Amps, WFS, Trim, Wave Control,
Weld schedules Travel Speed and Delay Time
Weave schedules Frequency, Amplitude, Right Dwell, Left Dwell and Angle
Multi-pass offsets X mm, Y mm, Z mm, Work Angle and Travel Angle
Run-in schedules Volts, Amps, WFS, Trim, Wave Control and Delay Time
Burn-back schedules Volts, Amps, WFS, Trim, Wave Control and Delay Time
Crater fill schedules Volts, Amps, WFS, Trim, Wave Control and Delay Time

Basic Flow Diagram of Adaptive Process

Sensor:
Scans the Weld
Joint

FANUC ARC Mate series robot integrated to a Servo


Sensor Measures: Robot MSPOT-90 laser joint scanner.
Gap, Area, Mismatch
User Defined Variables

Is the joint Flag User Error:


within user Joint outside of
specified limits defined limits
No

Yes

Algorithm Calculates Changes:


Volts, Trim
Wire Feed Speed
Travel Speed
Weave Amplitude, Frequency, Dwell
TCP position

On-The-Fly Utility:
Adjusts the weld path and
process variables on the fly

Note: Dimensions are shown in millimeters.


Detailed CAD data are available upon request.
FANUC Robotics America, Inc. Charlotte, NC Toronto, Canada
3900 W. Hamlin Road (704) 596-5121 (905) 812-2300
Rochester Hills, MI 48309-3253
(248) 377-7000 Chicago, IL Montréal, Canada
Fax (248) 377-7362 (847) 898-6000 (450) 492-9001

For sales or technical information, call: Cincinnati, OH Aguascalientes, Mexico


1-800-47-ROBOT (513) 754-2400 52 (449) 922-8000

Los Angeles, CA Sao Paulo, Brazil


(949) 595-2700 (55) (11) 3619-0599

marketing@fanucrobotics.com Toledo, OH
www.fanucrobotics.com (419) 866-0788
©2005 FANUC Robotics America, Inc. All rights reserved. FANUC ROBOTICS LITHO IN U.S.A. FRA-12/05

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