Transcript Arc Sensor COMARC Function

Arc Sensor COMARC Function
Function
COMARC is the function that the robot welds with automatically compensating deviations
between teaching path and the welding path that should be weld. The deviations are given
by variable amount of welding current and this amount is used to calculate for
compensation.
User Benefit
No problem even if workpiece is deviated
The robot can trace on correct welding line even if workpiece is not accurate itself or
mounting place is not fixed accurately.
Mamimum Deviation Accepted Angle: 5 degree
High quarity and short working time
Basic Theory and Extra Functions
< Basic Theory>
The welding machine that has the characteristic of constant voltage has the characteristic
that the welding current changes depending on the changes of distance between chips
and mother material.(Fig.1) The robot gets this information with weaving welding torch
and compensates welding path. (Fig.4)
Even if the workpiece too low quality to weld, this function gives a best results and
there is no manual correction. It is possible to use also Coordinated Motion
function.
Automatic detection of welding start point
By using starting point detection function it is possible to find welding start point when
workpiece is moved.
The Correction Position at Upper/Lower Direction: Fig.2-1, 2, 3
The Correction Position at Left/Right Direction: Fig.3
Figures
High
1. Tack Welding Skip Function
Welding current changes rapidly when the welding is performed at the tack welding
point or slip point. In this function the current limit is specified and the robot does
not compensate if the current is out of limit.
Welding Current
Low
Left/Right Sensing
Fig.3
Nozzle
Fig.1
Wire
Chip
Weaving
Width
L
Arc
2. Passover Function
COMARC3 makes compensated welding path on real time automatically. This
Passover Function monitors if the robot compensates too much, and defend it to go to
wrong position.
母材
A
A
B
Fig.2-1
A
B
Fig.2-2
Upper/Lower
Sensing
AB
B
Fig.2-4
Fig.2-3
母材
母材
母材
CurrentA > CurrentB
CurrentA < CurrentB
CurrentA = CurrentB
母材
CurrentA = CurrentB