YASKAWA NX100 Operator's Manual page 418

9 Arc Welding Application
9.11 Weaving Condition File
Set one of the following timer modes:
WEAV STOP : Weaving stops but manipulator moves.
ROBOT STOP : Manipulator stops.
MOTION TIME
If "SPEED TYPE" is set to "MOTION TIME," the weaving time specified here determines the
moving speed in each of the weaving sections.
STOP TIMER
Specifies the timer to determine weaving stop or manipulator stop for each section.
HOVER WEAVING COND. (option)
• SET (ON/OFF)
Specifies whether hover weaving is used or not.
• TIMER
Finishes hover weaving when this timer specified here expires.
• INPUT SIGNAL
Finishes hover weaving when the set input signal is input.
Reference Job
NOP
MOVJ VJ=10.00
MOVJ VJ=25.00
REFP 3
ARCON ASF#(1)
WVON WEV#(1)
MOVL V=60
WVOF
ARCOF
MOVJ VJ=25.00
MOVJ VJ=25.00
END
In hover weaving, the start and end points are the same. Therefore, the weaving vector
NOTE
cannot be determined. For this reason, the user needs to register a reference point
(REFP 3) to define the direction of travel.
WEAV STOP: Weaving stops but manipulator moves.
ROBOT STOP: Manipulator pauses.
Welding start point.
Reference point for defining the direction of travel.
*Teaching by interpolation instruction, not by joint
interpolation.
The same point with the welding start point.
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