Wobbling - YASKAWA YRC1000 Instructions Manual

4 Remote laser welding condition registration files
4.2 Interpolation of welding lines

4.2.6. Wobbling

When performing laser welding for a lap joint or butt weld, the diameter of the spot for
the laser to focus is small, so wobbling is sometimes performed. Wobbling is an
interpolation method that ensures a sufficient bead width by spinning the laser focal
point while moving it along the welding line.
 Wobbling setup
(1) On the remote laser record position window, teach the welding start point (during
teaching) and welding end point (during teaching).
(2) On the remote laser record conditions window, select {WELDING LINE} and then
select [WOBBLING].
(3) Enter the following parameters that can be input while wobbling is selected.
• Wobbling height a [mm]
• Wobbling width b [mm]
• Pitch p [mm]
• Speed v [mm/s]: Rotation speed at the point of processing (not the movement speed at
the center of wobbling)
* The center speed is not a parameter that can be set. It is calculated based on the
above parameter settings.
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