LIBRARY ı6ıul 0) - Cranfield University

Figure 6.31 Voltage step input test (-2 volts) applied using the Robot Interface (WFS = 6.0 162
m/min, initial V. = 23.0 V, Sw = 0.5 m/min).
Figure 6.32 Voltage step input test (-2 volts) applied using the direct serial link (WFS = 6.0 162
m/min, initial V.., = 23.0 V, Sw = 0.5 m/min).
Figure 6.33 Voltage step input test (-2 volts) applied using Robot Interface (WFS = 10.5 163
m/min, initial V, = 33.5 V, Sw = 0.5 m/min)
Figure 6.34 Voltage step input test (- 2 volts) applied using direct serial link (WFS=11 m/min. 163
Initial V.. =34.0 V, Sw 0.5 m/min)
Figure 6.35 Variation of power ratio with wire feed speed for stable dip mode of metal transfer 164
and comparison with the allowed variation range (minPRdip 5 PR :5 maxPRdip)
Figure 6.36 Variation of TSI, TI and DCI with wire feed speed for stable dip mode of metal 164
transfer
Figure 7.1 Bead appearance for controlled and uncontrolled trials carried out using
inadequate set-up voltage for the dip mode of metal transfer
Figure 7.2 Welding data of the non-controlled (nc) and the controlled (c) welding trials 170
shown in Figure 7.1
Figure 7.3 Bead appearance for controlled and uncontrolled trials carried out using excessive 171
set-up voltage for the dip mode of metal transfer
Figure 7.4 Welding data of the non-controlled (ne) and the controlled (c) welding trials 171
shown in Figure 7.3
Figure 7.5 Bead appearance and bead profiles along the weld for non-controlled fillet welding 172
trial "M2".
Figure 7.6 Welding data and bead geometry obtained from test M2 172
Figure 7.7 Bead appearance and bead profiles along the weld for the non-controlled fillet 173
welding trial "M3".
Figure 7.8 Welding data and bead geometry obtained from test M3 173
Figure 7.9 Bead appearance and bead profiles along the weld for the non-controlled fillet 174
welding trial "M4".
Figure 7.10 Welding data and bead geometry obtained from test M4 174
Figure 7.11 Bead appearance and bead profiles along the weld for the non-controlled fillet 175
welding trial "M5".
Figure 7.12 Welding data and bead geometry obtained from test M5 175
Figure 7.13 Bead appearance and bead profiles along the weld for the non-controlled fillet 176
welding trial "M6".
Figure 7.14 Welding data and bead geometry obtained from test MG 176
Figure 7.15 Bead appearance and bead profiles along the weld for the stand-off controlled 177
fillet welding trial "S2".
Figure 7.16 Welding data and bead geometry obtained from test S2 177
Figure 7.17 Bead appearance and bead profiles along the weld for the stand-off controlled fillet 178
welding trial "S3".
Figure 7.18 Welding data and bead geometry obtained from test S3 178
Figure 7.19 Bead appearance and bead profiles along the weld for the stand-off controlled fillet 179
welding trial "S5".
Figure 7.20 Welding data and bead geometry obtained from test S5 179
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