Hello How to add automatic control functions welding machine for the program?
SET_ARC_W1JOBNO 2 = 2; job 2 for Arc Weld Condition 2
In roboDK, it generates a program and automatically enters welding functions
I have 5 educational licenses. We are a technical school and we use your program.
In this situation, can we count on support in the configuration of welding functions for the Kawasaki robot and the Fronius i400 welding machine?
Most post processors use the triggers ArcStart and ArcEnd to indicate the start and end of a weld path. In other words, you should encapsulate your weld path within a program call to ArcStart and ArcEnd.
You can optionally pass an ID to ArcStart, to indicate the Weld parameters you want to use (WELD_COND for Kawasaki).
For example, to use WELD_COND2, the structure of the program should look like:
How to modify the functions so that it does not include retraction?
retracking z = 100
currently LWE TRANS (75,000,75,000,124,000,0.0000,180.0000,180.0000), 1.1
want z = 124-100 (retraction) = 24
LWE TRANS (75,000,75,000,24,000,0.0000,180.0000,180.0000), 1.1
if type(self.WELD_PARAM) is int:
print("Ignoring weld close")