Basic Characteristics RAPID

Arguments
ArcL [\On] | [\Off] ToPoint Speed [\T ] Seam Weld Weave Zone
[\Z] Tool [\WObj]
[\On] Data type: switch
The argument \On is used to obtain a flying start (see Figure 1) which, in turn,
results in shorter cycle times.
The argument \On may only be used in the first of the arc welding instructions to
result in a seam. As the end instructions cannot include the argument \On, welding
with a flying start must include at least two instructions.
The start preparations at a flying start, e.g. gas purging, are carried out on the way
to the weld start position.
When the argument \On is not used, the weld starts at the position before the ArcL
instruction (see Figure 2) and the robot remains stationary at the previous position
whilst all weld start activities are in progress.
Whether or not a flying start is used, the start position for the weld will always be
a stop point – regardless of what is specified in the Zone argument for that position.
MoveJ
ArcL
Direction of welding
ArcL\Off
MoveJ
Movement with no welding
Welding and weld end
Figure 2 If welding is started without the argument \On, the weld is begun at the previous position.
[\Off] Data type: switch
If the argument \Off is used, welding ends when the robot reaches the destination
position. Regardless of what is specified in the Zone argument, the destination
position will be a stop point.
If an ArcL instruction without the argument \Off is followed by MoveJ, for example,
welding will end, but in an uncontrolled fashion. Logical instructions, such
as Set do1, however, can be used between two arc welding instructions without
ending the welding process.
13-ArcL-2 RAPID Reference Manual