How to remove the pause at the end of every weld

General Application Help: How do I?
1

Hello all,

I am looking to speed up some programs and am having trouble finding what is causing the robot to “pause” after every weld for about a second. I am working with UR10 robots with a Fronius power supply. Is this due to a gas post flow? The robot is not arcing at this time. Also to add that I do not have any options on the teach pendant to adjust this at the end weld line of code. Any guidance is appreciated and I will try to answer any questions I can to help get to the answer.

Thanks,

2

You’ll have to provide more details. UR by default doesn’t have welding, so you must be using a 3rd party CAP. You’d likely have to reach out to the creator of said CAP for that information.

3

Thanks for the reply, I wasn’t sure if it would be robot side or not.

4

Maybe it is visible in the script file? I would think that all actions the URCap does, would show there :slight_smile:

5

It may or may not be visible in the script, depending on how the CAP is written. Sometimes it’s obfuscated to XMLRPC calls, and all you see in the script file is something like “rpcserver.callMyFancyFunction()” and you don’t actually get to see what it does. Regardless, even if you can plainly see “sleep(1)” at the end, there isn’t anything you can DO about it, since the CAP is the one generating that delay. If you delete it, the next time you press play the CAP will put it right back. I guess you could modify the script and then just run it out of a script node, but you’d have to also delete all the Installation-relevant information from the script beforehand.

6

The Fronius power source has a “gas post flow” setting.
If you are using JOB mode then you can edit the job to alter this.
If you are not in job mode then edit it in the start/end settings.

The robot will typically wait for the “robot motion release” signal from the power source to go low before moving away from the weld end.
This happens after the gas post flow time.
Note that you should NOT move the torch away until the weld pools has solidified.
Simply adjust your post gas time to the minimum required for this.
It will vary depending on material and voltage but typically somewhere around 0.5-1.5 is sufficient.

7

I’m interested in this too. The Smooth Robotics UR cap seems to have changed in the new release, adding a delay between the exit of the previous, and approach of the next (nothing to do with gas flow or arc off timer).