Used Robots.com: Motoman XRC Arc Welding

Operator's manual MOTOMAN XRC Page: 10 Function outlines MOTOMAN ROBOTICS EUROPE Created: 99-02-15 Revised: 99-08-18 1.3.C Retry function An attachment to the welding start position point of a non-conductive material,
such as rust , soot, and oil, may cause an arc generation failure during arc start.
An arc generation failure stops the manipulator and interrupts work. To prevent such inconvenience, the retry function is available. When an arc generation failure occurs (•) and this retry function is performed, the
ARCON process is repeated (‚) according to the retry condition defined in the arc
auxiliary condition file. The manipulator repeats the ARCON procedure as it
slightly shifts its position near the arc starting point. After that, the manipulator
returns to the starting point when an arc generates and continues working (ƒ). Reference Job NOP
.
MOVL V=500
ARCON AC=210 AVP=100
MOVC V=80
MOVC V=80
MOVC V=80
MOVC V=80
ARCCTE AC=180 AVP=100 DIS=20.0
MOVC V=80
ARCOF AC=160 AVP=80 T=0.30
.
END Move to arc start point P1.
Arc Start Move to taught point Pn-1
Currently gradually decreases
Move to arc end point Pn
Arc End Welding start point (P1) and welding end
point (Pn) must be the same. Current 210 180
160 20 mm Manipulator
stop (0,3 sec) Main condition P1 P2 Pn-1 Pn End condition Slope function
Welding condition
gradually decreases


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