Basic Characteristics RAPID

Arc Welding RAPID Summary
13 Arc Welding
The ArcWare package supports most welding functions. Crater-filling and scraping
starts can, for example, be programmed. Using ArcWare, the whole welding process
can be controlled and monitored by the robot via a number of different digital and analog
inputs and outputs.
13.1 Programming principles
The same instructions are used both to control the robot’s movements and the actual
welding process. The arc welding instructions indicate which weld data and seam data
are used in the weld in question.
The weld settings for the actual weld phase are defined in weld data. The start and end
phase are defined in seam data.
Any weaving is defined in weave data, which is also identified by the arc welding
instruction.
Certain functions, such as a scraping start, are defined in the system parameters.
The welding process is divided into the following phases:
WELD
START END
PREACTION IGNITION HEAT
FILL POSTACTION
13.2 Arc welding instructions
Instruction Type of movement:
ArcC TCP along a circular path
ArcL TCP along a linear path
3-34 RAPID Reference Manual
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