Basic Characteristics RAPID

ArcL Arc welding with linear motion
ArcL1
ArcL2
Example
ArcL (Arc Linear) is used to weld along a straight seam. The instruction controls and
monitors the entire welding process as follows:
- The tool centre point is moved linearly to the specified destination position.
- All phases of the welding process, such as the start and end phases, are controlled.
- The welding process is monitored continuously.
The only difference between ArcL, ArcL1 and ArcL2 is that they are connected to different
process systems configured in the System Parameters. Although ArcL is used in
the examples, ArcL1 or ArcL2 could equally well be used.
MoveJ . . . .
ArcL \On, p1, v100, seam1, weld5, noweave, fine, gun1;
ArcL \Off, p2, v100, seam1, weld5, noweave, fine, gun1;
MoveJ . . . .
This welds a straight seam between points p1 and p2, as illustrated in Figure 1.
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MoveJ
p1
ArcL\On
Direction of welding
Figure 1 Welding with flying start.
ArcL\Off
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On the way to p1, preparations for the weld start, such as gas preflowing, are carried
out. The process and the actual weld movement then start at position p1 and end at p2.
The start and end processes are determined by seam1 and the welding process by
weld5. Weaving data is carried out according to noweave. (No weaving if the
weave_shape component value is zero.)
V100 specifies the speed attained during the flying start to p1.
MoveJ
Movement with no welding
Flying start
Welding and weld end
RAPID Reference Manual 13-ArcL-1
p2