Adaptive Welding 4-20 - weldbot.com

1 Adaptive Welding Basic DescriptionFANUC Robotics has taken its proven arc Welding processtechnology and combined it with the joint sensing capabilities of the Servo Robot sensor to offer a real time Adaptive Welding within the ArcToolapplication software is a user-definable Adaptive algorithm thatutilizes sensor feedback todynamically adjust weldingparameters. These parameters include weaving, travel speed,voltage and wire feed speed tovolumetrically fill the supported joint designs. This ArcTool option enables the robot to adapt thewelding process dynamically as the joint geometry changes, thereby increasing the reliability andproductivity of the Welding user-defined algorithm, providinginfinite flexibility, controls theadaptability of the process.

2 There are no look-up tables limiting thedegree of adaptation. Seamlessintegration offers complete processcontrol through the robot teachpendant. Adaptive Welding with theServo Robot sensor has the flexibilityto support part finding, seam finding,seam tracking, coordinated motion, Adaptive process control and multi-pass Welding with root passmemorization (MP/RPM). Thisflexibility improves weld quality and permits robotic Welding onapplications not previously motion optimizes weld position while adapting to volumetric jogging easesteaching with fewer points to achieve weld with Root PassMemorization (RPM) allowsadaptive multi-pass welds without additional sensor application softwareoffers an easy-to-use, menu-driven user interface allowingprocess optimization from a single to add or delete Welding passes without extensive reprogramming or parameter teach pendantprogramming structure reducesprogramming and setup the data is stored in the teach pendant header, whichsimplifies file saving and program joint based programmingsupports all joints detected by the Servo Robot times are optimized bytracking while Welding process does not use look up tables and allowsinfinite control of the user-definable adaptivealgorithm controls the weldingprocess.

3 Making the necessaryprocess changes to achieve the desired fill adjustable algorithm gives the user the control tocustomize for specificapplications, welds or individual control gives the ability to enable or disablethe Adaptive process between passes as well as define theprocess serial communicationbetween robot controller and vision programmingstructure controlling the weld sequence and weld pass direction and compensates for joint mismatch, optimizing fill as needed, which improves weld quality. Adaptive Pass Specific Welding Control:Weld schedulesVolts, Amps, WFS, Trim, Wave Control, Travel Speed and Delay TimeWeave schedulesFrequency, Amplitude, Right Dwell, Left Dwell and AngleMulti-pass offsetsX mm, Y mm, Z mm, Work Angle and Travel AngleRun-in schedulesVolts, Amps, WFS, Trim, Wave Control and Delay TimeBurn-back schedulesVolts, Amps, WFS, Trim, Wave Control and Delay TimeCrater fill schedulesVolts, Amps, WFS, Trim, Wave Control and Delay TimeBasic Flow Diagram of Adaptive ProcessFANUC ARC Mate series robot integrated to a ServoRobot MSPOT-90 laser joint Calculates Changes:Volts, TrimWire Feed SpeedTravel SpeedWeave Amplitude, Frequency, DwellTCP positionOn-The-Fly Utility.

4 Adjusts the weld path and process variables on the flySensor:Scans the Weld JointSensor Measures:Gap, Area, MismatchUser Defined VariablesIs the joint within user specified limitsFlag User Error:Joint outside of defined limitsYesNoNote:Dimensions are shown in CAD data are available upon Robotics America, , NCToronto, Canada3900 W. Hamlin Road(704) 596-5121(905) 812-2300 Rochester Hills, MI 48309-3253(248) 377-7000 Chicago, ILMontr al, CanadaFax (248) 377-7362(847) 898-6000(450) 492-9001 For sales or technical information, call:Cincinnati, OHAguascalientes, Mexico1-800-47-ROBOT(513) 754-240052 (449) 922-8000 Los Angeles, CASao Paulo, Brazil(949) 595-2700(55) (11) (419) 866-0788 2005 fanuc Robotics America, Inc. All rights reserved.

5 fanuc ROBOTICS LITHO IN FRA-12/05