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occupy half of China

Laser Welding system Manual

――CRP-HJ-JG-V1 Robot System

This system supports a variety of robot types. This manual only takes
the six-joint robot as an example to give a partial introduction. For other
types of robots, please refer to this manual and commissioning manual.

CRP-JS-YF2-EN-00012-A1
Please ensure that the relevant instructions
reach the end user of this product.

CROBOTP Relevant Instructions：

CRP Robot Safety Manual
Programming Instruction Manual
Robot Operation Manual
CRP-S80 PLC Manual
CRP-S100 PLC Manual
CRP-S80 System Hardware Manual
CRP-S100 System Hardware Manual

• Thank you very much for choosing our products !

• Please keep the relevant manuals of this product properly for reference when
necessary !
• If the equipment needs to be transferred, please hand over the relevant information
to the other party !
• Keys, functions and options not described in the robot related manual are deemed
to be unavailable and should not be used !
Revision description：
2022-08-03 First draft (From：NT-00055-A0)
2023-03-21 Add RFL-C2000 and RFL-C3000 lasers

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 CROBOTP | Laser Welding System Manual

Preface

1. Before using the robot, please be sure to carefully read the relevant instructions of our robot and
operate the robot after understanding the content.
2 we solemnly suggest that all personnel involved in robot operation, teaching, maintenance,
repair and spot inspection should study the operation instructions of our system in advance.
3. Our company reserves the right to change, revise or update this manual without prior notice.
4. This manual may not be reproduced or copied in whole or in part without the prior written
permission of the company.
5. Please store this manual carefully to ensure that it reaches the end user. If the robot needs to be
reinstalled, transported to different places, or sold to other users, please be sure to attach this manual.
In case of loss or serious damage, please contact our agents or technicians.
6. All parameters, indicators and designs may be modified at any time without further notice
without affecting the use effect.
7. We try to describe as many situations as possible in this manual. However, for those unnecessary
and impossible situations, we don't describe them because of various possibilities. Therefore, those
cases that aren't specifically described in the specification can be regarded as "impossible".
8. Omissions and errors are inevitable in the process of writing this book. If you find errors or
incomprehensible places in the reading process, you are welcome to call for advice and correction.

II
 Reading instructions

Before any operation, be sure to thoroughly read and understand the contents of this
manual and the safety part, and strictly abide by all safety rules. In addition, if necessary,
please refer to the relevant manual.
Please pay special attention here. Please don't do anything until you fully understand the
contents of this manual. The company will not be responsible for any accident or damage
caused by operation not in accordance with the safety specifications in this manual.

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 CROBOTP | Laser Welding System Manual

Safety Instructions

Brief introduction

This section mainly introduces the safety principles and processes that need
to be paid attention to when using robots. Before using robots, please be sure to
read and understand the contents in this chapter, and operate robots according
to the safety operation procedures. Before use (installation, operation,
maintenance, overhaul), please be sure to read and master this manual and
other relevant materials.

The charts, sequences and detailed explanations given in this manual may
not be absolutely correct. Therefore, when using this manual to work, it is
necessary to pay maximum attention. In case of any unspecified problems or
troubles, please contact CRP.

In order to ensure the safety of each work, please read and fully understand
the safety explanations and descriptions in this manual, the Robot Safety
Manual, relevant laws, regulations, decrees and relevant materials, and take
appropriate safety measures for each work.

In addition to the safety chapter, please note that there are other safety tips
in the necessary part of the document.

Safety responsibility description

This manual doesn't apply to the robots which don't belong to our
company. At the same time, our company will not be liable for accidents,
damages and / or any problems related to industrial property rights that may be
caused by the use of such robots.

We try our best to provide reliable safety information, but we will not be
responsible for accidents or indirect accidents caused by the use of this manual
and the products described therein.

Except as expressly stated in this manual, the contents of this manual shall
not be interpreted as any guarantee made by CRP for personal loss, property
damage or specific applicability.

CRP isn't responsible for any possible errors in this manual.

IV
Emergency stop button

Emergency stop is a kind of safe stop, which is the highest priority function
in robot system. Emergency stop buttons are installed on the teaching pendant,
electric cabinet, station box, etc. In case of emergency, the user can press the
emergency stop button to cut off the power supply of the robot immediately.

Most of the emergency stop buttons used for emergency stop use red
main body, and the most common shape is mushroom head. As shown in the
following figure.

If you need to reset, you need to rotate in the direction of the arrow on the
emergency stop button (as shown in the figure below), and the emergency stop
button will pop up and reset.

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 CROBOTP | Laser Welding System Manual

Catalogue

Preface......................................................................................................................................................... II

Safety Instructions................................................................................................................................ IV

Brief introduction.............................................................................................................................IV

Safety responsibility description.....................................................................................................IV

Emergency stop button....................................................................................................................V

1. Safety Instructions for Laser Welding System................................................................................... 1

1.1 Precautions..................................................................................................................................1

1.2 Operation safety..........................................................................................................................1

1.3 Electrical safety...........................................................................................................................2

2.4 Fire safety....................................................................................................................................2

2.5 Use safety of laser system...........................................................................................................3

2. Specifications and Parameters of Laser Welding System................................................................. 4

2.1 Specification of welding system.................................................................................................4

2.2 Process package parameters.....................................................................................................5

3. Installation of Laser Welding System................................................................................................ 6

3.1 Unpacking preparation...............................................................................................................6

3.2 Installation ..................................................................................................................................6

3.3 Introduction to Gun Head and Filling Device.............................................................................8

3.3.1 Laser welding head............................................................................................................8

3.3.2 Filling device.......................................................................................................................9

3.4 Pre-use steps.............................................................................................................................10

4. Operating Instructions for Laser System......................................................................................... 10

4.1 Man-machine interface.............................................................................................................10

VI
 4.2 Setting position of red light interface......................................................................................13

4.3 Information Setting Interface...................................................................................................14

5. Software operation.......................................................................................................................... 15

5.1 Parameter Settings....................................................................................................................15

5.2 Introduction to laser welding process interface......................................................................16

5.3 PLC description.........................................................................................................................18

5.4 Command description..............................................................................................................18

5.4.1 Command position..........................................................................................................18

5.4.2 ARC START .......................................................................................................................19

5.4.3 ARCEND ............................................................................................................................20

5.5 Sample program........................................................................................................................21

6. Laser welding process and control logic description..................................................................... 21

6.1 Arcing process...........................................................................................................................22

6.2 Arc ending process....................................................................................................................22

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 CROBOTP | Laser Welding System Manual

1. Safety Instructions for Laser Welding System

1.1 Precautions

This product is a class 4 laser product, which can produce

dangerous diffuse reflection. Special care should be taken when
using this kind of laser to avoid direct eyes and body contact with
the laser, otherwise physical injury will be caused.
WARNING

The coil tube of the hand-held welding gun head contains

optical fibers, which must be placed in a natural state as far as
possible. Twisting and bending are prohibited, otherwise the
winding diameter of the optical fibers will be too small and
WARNING damaged.

It is forbidden for non professionals to disassemble, repair and

transform this equipment by themselves. Please be responsible
for the consequences such as electric shock and fire caused by
the above reasons. Carry out safety knowledge education and
command the production process for the actual operators on site.
DANGER Don't carry out operations other than the maintenance indicated in
the manual.

Personnel using the pacemaker shouldn't approach this

equipment. The welding machine will produce a magnetic field
during running, which will affect the normal operation of the
pacemaker.
CAUTION

1.2 Operation safety

1. The output wavelength of this equipment is 1080nm (invisible light), and

the laser safety level belongs to class IV laser, which isn't only harmful to eyes,
but also burns skin, and its reflected and scattered light may also cause harm to
human body. Therefore, please wear laser safety glasses and protective clothing
throughout the use process.

Fig.1.1

1
 2. Please wear protective glasses and safety gloves during laser welding. It
is strictly forbidden to point the muzzle of the gun at the human body and eyes.
After welding, the workpiece is still in a high temperature state. Please wear
gloves to touch the workpiece to prevent scalding.

1.3 Electrical safety

Before connecting the power supply, please check the power supply
and circuit to ensure that there is no virtual connection, short circuit, wrong
connection, and power on after ensuring that there is no error.

1) Please ground the product through the PE line in the power line, and
ensure that the grounding is firm and reliable.

WARNING

The product shell is electrified due to grounding disconnection, which may cause
personal injury to operators.

2) Ensure that the AC voltage supply is normal.

WARNING

Incorrect wiring or supply voltage will cause unrecoverable damage to the laser.

2.4 Fire safety

1) Fire extinguishers shall be equipped at the work site. Inflammables,

explosives and sundries are prohibited to be stacked around the machine.
Sparks may splash during welding, and fire may occur in case of inflammables.

2) Do not place inflammable and explosive materials on the light path or

where the laser beam may shine. If the laser beam is irradiated on inflammable
and explosive materials, it may cause fire or explosion.

3) Please don't cover the equipment with blankets, cloth and other textiles
during use, so as to prevent the equipment from heating and causing fire.

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 CROBOTP | Laser Welding System Manual

2.5 Use safety of laser system

1. The light double pendulum industrial welding head includes a laser, a

water cooler and a laser welding system. In order to avoid interference, multiple
control modules of the laser welding head should be kept away from argon
arc welding machine, secondary protection welding machine and related
equipment with large interference, and a safe distance of more than 5 meters
should be maintained. If conditions permit, please place the laser welding
machine in a separate space.

2. In order to reduce equipment leakage or static electricity, please ensure

that the light double pendulum industrial welding head equipment uses an
effective ground wire.

3. Please repeatedly confirm whether the socket connector is normally

connected and locked, and wrap it with insulating tape after locking.

4. Check whether the laser head and optical fiber are locked and connected.
After confirming that they are normal, seal and wind them with masking tape to
ensure that dust does not enter the laser head cavity.

6. Check whether the drawer of the protective lens is normal and ensure
that the sealing ring is normal and effective. When replacing the protective lens,
make sure to wipe the stains on the outside of the laser head with alcohol at
least 5 times, and make sure that the environment for replacing the lens is dust-
free and windless before replacing the lens.

5. Check whether there is water seepage in the cavity. There are many water
channels in the cavity. Don't loosen the screws without professional training to
prevent water droplets from entering the cavity.

7. The inside of the laser head is extremely complex. To avoid short circuit,
please stay away from the water source and ensure that no liquid can be
sprayed on the laser head.

8. It's forbidden to use strong wind to blow and clean the laser head, and
can only be wiped with alcohol and dust-free cloth.

9. A digital motor is installed inside the laser head. It must be handled with
care to prevent motor failure.

10. When the laser head is not in use, please use the system gas to blow for
many times to discharge the dust, and remove the copper nozzle and seal it
with sealing tape. When installing the copper nozzle, blow for more than 2 times
before use.

11. When the temperature is lower than 0 ℃, add antifreeze, and replace the
water once a month.

3
2. Specifications and Parameters of Laser Welding System

2.1 Specification of welding system

Parameter

SF1500HWM Swing SF2000HWM Swing SF3000HWM Swing

Model and name
laser welding machine laser welding machine laser welding machine
Laser RFL-C1500 RFL-C2000 RFL-C3000
Welding gun head BWT30
Power instability ±1.5%
Laser wavelength 1080nm
Fiber length 10m
Fiber core diameter 50μm
Operating ambient
-10—40℃
temperature range
Ambient humidity <70%
Cooling method water-cooling
Power Supply 3P*AC380V 50/60HZ Three-phase and five-wire wiring
Cycle: protective lens for 1 week and welding nozzle for more than one
Consumables
month
Total power 9KW 11KW 15KW
Weight 220KG 250KG 280KG

Working environment:

1. Please use in the place where the ambient temperature is 0 ~35℃ and
the ambient humidity is below 85% and there is no sharp temperature change.
In addition, the lifetime of laser welders can be affected by their use in the
following places:

• Where garbage, dust and oil mist abound;

• Where vibration and shock occur; Places where medicines can be accessed;

• Place near high frequency interference source; Places liable to dew;

• In high concentration environments such as CO2, NOX, SOX, etc.

2. When the ambient temperature drops below 0℃, the equipment may
freeze and break down. When using, make sure there is no condensation inside
the equipment.

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 CROBOTP | Laser Welding System Manual

3. In the case of rapid temperature change, condensation will occur on the

optical lens, stains and fog spots must be avoided. If it is unavoidable, please
use the equipment after ensuring no condensation.

2.2 Process package parameters

1500ｗLaser control Laser head control

Power
Serial Material and Duty
RFL- RFL- RFL- Frequency Mode Frequency width
No. Thickness Cycle
C1500 C2000 C3000
Carbon steel
450W 600W 900W 3000HZ 100% ○ 10HZ 1.6mm
1.0 mm
Carbon steel
1 900W 1200W 1800W 3000HZ 100% △ 10HZ 2.6mm
2.0 mm
Carbon steel
1275W 1700W 2550W 3000HZ 100% ▷◁ 10HZ 3mm
3.0mm

Stainless
450W 600W 900W 3000HZ 100% ○ 10HZ 1.6mm
steel 1.0mm
Stainless
2 900W 1200W 1800W 3000HZ 100% △ 10HZ 2.6mm
steel 2.0mm
Stainless
1350W 1800W 2700W 3000HZ 100% ▷◁ 10HZ 3mm
steel 3.0mm

Galvanized
525W 700W 1050W 3000HZ 100% ○ 16HZ 1.6mm
sheet 1.0
Galvanized
3 975W 1300W 1950W 3000HZ 100% △ 16HZ 2.6mm
sheet 2.0
Galvanized
1275W 1700W 2550W 3000HZ 100% ▷◁ 16HZ 3mm
sheet3.0

Aluminum
600W 800W 1200W 3000HZ 100% ○ 10HZ 1.6mm
plate 1.0
Aluminum
4 1050W 1400W 2100W 3000HZ 100% △ 8HZ 2.6mm
plate 2.0
Aluminum
1275W 1700W 2550W 3000HZ 100% ▷◁ 8HZ 3mm
plate 3.0

5
3. Installation of Laser Welding System

3.1 Unpacking preparation

1. Open the package and check whether the machine is in good condition
and the accessories are complete.

2. Prepare external power cord and argon meter.

3.2 Installation

First, the ground wire of the power grid meets the requirements of the
national standard of the computer room. The maximum power consumption
of the machine is about 9KW and the switch capacity is more than 5% of the
machine.

Main power supply: AC380V 50/60HZ

Fluctuation of power supply network: <5%

1. Connection: The rear panel of the robot is the electrical connection port
and gas connection port. Pay special attention to PE as ground wire and N as
neutral line when wiring as shown in the figure.

L1 L2 L3 N PE

Fig.3.1

2. Add water: change the cooling water once a month, and add antifreeze
when the temperature is below zero.

3. The safety clip is clamped on the electrically conductive operating table

or product, as shown in Figure 3.3. Pay attention to welding product and
insulating the operating table and ground.

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 CROBOTP | Laser Welding System Manual

Fig.3.2

7
3.3 Introduction to Gun Head and Filling Device

3.3.1 Laser welding head

The structural diagram of laser welding head is shown in the following

figure.

Fig.3.3

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 CROBOTP | Laser Welding System Manual

3.3.2 Filling device

Fig.3.3

(1) Digital display table;

(2) Up key;

(3) Down key;

(4) Setting keys;

(5) Continuous key;

(6) Pulse key;

(7) Analog key;

(8) Manual wire feed key;

(9) Manual draw back key;

(10) Functional indicator light for setting interface.

9
 3.4 Pre-use steps

(1) Open the circuit breaker switch of the machine;

(2) Reset the "emergency stop" button and open the electric lock switch;

(3) The water cooler is switched on when the water supply reaches the
safe water level. Pay attention to the need to add antifreeze when the ambient
temperature is below zero;

(4) The laser is switched on automatically, and the indicator light is on the
back of the laser;

(5) Human-machine interface is illuminated.

4. Operating Instructions for Laser System

4.1 Man-machine interface

There are three main control parts on the page: laser control part, Motor
control part and LiteLOC part.

Fig.4.1

Laser control part：

1) Power：0—100%

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 CROBOTP | Laser Welding System Manual

Select power according to different material thickness and penetration

requirements. The final welding power=the power set here (percentage) x the
welding power set on the process interface of the teaching device;

2) Frequency：50—30000HZ

Recommended frequency is 3000—5000HZ ；

3) Duty cycle：0—100%

The recommended duty cycle is 100% and it can be properly reduced for
thin sheet where penetration through should be avoided.

Motor control part:

1) Working Mode：

There are six types including spot, line type, circle type, double circle type,
triangle type and figure 8 type. It is recommended to use triangle type spot
to meet the requirements basically. Filler welding of galvanized plate needs
to adopt figure 8. Other spot types should be selected according to actual
conditions.

2) Frequency：

If the speed of motor is adjustable from 2 to 46HZ. It is recommended to set

it to 10-22HZ. The frequency is too low, the swing speed of motor is slow and
the welding seam is not melted sufficiently. Too high a frequency can cause
"undercut" welding defects and also affect the life of the gun head.

3) Width：

The spot size is adjustable from 0.2-5mm. Taking "triangular spot" as an

example, the smaller the width, the stronger the penetration force of the spot
and the narrower the width of the weld. However, when welding materials with
large thickness, the smaller the light spot, the more difficult the weld is to be
formed. It is suggested that when welding materials below 2mm, the light spot
with width below 2mm should be used. When welding materials above 3mm,
the light spot should be about 3mm. The light spot should not be too large,
otherwise the welding penetration will not be enough.

11
Gas control section:

• Lead time:

Before welding emits light, gas will be blown out in advance according to
setting time. It is suggested that 150 ms or so be used.

• Shooting time:

After welding is off light, gas blowing time will be prolonged according to setting
time. It is suggested that 150 ms or so be used.

Please set the above two parameters in the welding process interface of the
teaching device

Signal status display at the bottom of the page:

FPAG, Gas, Welding torch status, Connect, Motor.

1) FPAG:

Control of light signal of laser switch. When welding, the light will come out
only after pressing "Optical brake". After 15 minutes without operation,"Optical
brake" will turn off automatically."

2) Gas:

After pressing the "gas", the gun head will blow air all the time. By adjusting
the argon gauge to test the blowing strength and adjust the protective gas
pressure, the "gas" will be closed during normal welding.

3) Welding torch status:

When welding, the light-emitting trigger button on the gun head is pressed,
and the "Welding gun status" lights up.

4) Connect:

When welding, the gun head contact the workpiece to be welded, the

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 CROBOTP | Laser Welding System Manual

workpiece and alligator clip are in the conductive state, and "conductive state"
lights up.

5) Motor:

It refers to the state of the oscillating motor in the welding head. When
the motor is in normal operation, the state of the laser head lights up. When
the fault occurs, the signal light goes out and the liquid crystal screen of the
gun head displays the E signal alarm. The light output signal is locked and the
triggering light output signal is invalid.

4.2 Setting position of red light interface

The red light offset setting interface is shown in the following figure.

Fig.4.2

Red light offset setting:

During welding, observe whether the red light is in the center. The position
of the red light can be adjusted by adjusting the X-mirror reflection angle and
changing the offset of the red light. The adjustment radius of the red light center
point is 5 mm. When filling wire welding, observe whether the red light is in the
center of the welding wire and confirm whether it is offset.

13
4.3 Information Setting Interface

The third page is the information setting interface, as shown in Figure 4.3
below.

Fig.4.3
S/N:

Refers to the system administrator number, consisting of eight digits, such

as 20200315.

Version:

Software version number of main board.

Availabe Life:

It refers to limited usage time and is permanently used when (-) appears; If
the number of days available is displayed, you can contact us for decoding.

License:

The number that needs to be input when unlocking can be obtained

by entering corresponding permanent unlock number through system SN
identification code.

Multilingual choice on the right: currently supported in 5 languages:

Chinese, English, Russian, Vietnamese, Korean.

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 CROBOTP | Laser Welding System Manual

5. Software operation

5.1 Parameter Settings

Special instructions:

1. Upgrade to the software version after 2022-6-10 of CRP before use.

2.Please import the special PLC for laser welding before using.

3. The function of laser welding is based on the arc welding process

package. The relevant functions and settings not mentioned in this paper can
be described by reference to the Arc Welding Process Package.

Pre-use settings

Parameter Path:【Para setting】-【Structure para】-【27 Robot process】

Set the robot parameter -"27 Robot process" to 3。

Fig.5.1

Parameter Path:【Para setting】-【Operation para】

Then set the operation parameters 51 and 52 to 2 and switch to the laser
welding process menu and interface.

Fig.5.2

Restart the system when setup is complete.

★Note

The above parameters can only be modified under the authority of the
manufacturer.

15
5.2 Introduction to laser welding process interface

Click the teaching pendant one by one:【Technical】-【Laser welding

para】，enter the laser welding process interface.

Fig.5.3

The laser welding process setting interface is shown in the following figure:

Fig.5.4

The specific parameters are described in the table below.

NO. Parameter name data type Data range explain

Set the process number of laser

1 Process No. integer 0~999 process, and the parameters of each
process number are saved separately
2 Welding power integer matching Set the power during laser welding
Floating point
Set the wire feeding speed during
3 Welding wire (one decimal matching
laser welding
point)
4 Starting power integer matching Initial value of power at startup

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 CROBOTP | Laser Welding System Manual

Floating point
Initial value of wire feeding speed at
5 Starting wire (one decimal matching
startup
point)
Power / wire feeding speed from initial
6 Ramp time integer 0-9999
value to target value
Set the power gradient target during
7 Arc end power integer matching
arc termination

Floating point
Set the gradual target of wire feeding
8 Arc end wire (one decimal matching
speed during arc ending
point)

The distance of slow descent in

9 Arc end distance integer 0-9999
advance during arc ending
10 Pre gas integer 0-9999 Time of gas air supply in advance
11 Delay gas integer 0-9999 Time to delay the gas supply
12 Reserve Not used temporarily

Duration of withdrawing weld-

wire withdraw
13 integer 0-9999
time
wire when entering arc ending.

Special instructions

1. Power and wire feeding need to be matched through "relationship curve"

(curve matching of original current and voltage).

2. "Starting power" transits linearly to "welding power", the transition time

is "Ramp time". Similarly, this also applies to the wire feeding parameter.

3. You can set an arc stopping distance in advance through "Arc ending
distance". When the distance between the current position of the robot and the
welding end point is less than this value, enter the arc stopping in advance (slow
descent stage), and perform the following actions:

1) The power and wire feeding speed begin to gradually change to "Arc end
power" and "Arc end wire", and the gradual change is completed after reaching
the arc stopping point.

2) Stop wire feeding action, start wire withdrawal action, and wire
withdrawal time are given by the set value of "wire withdrawal time", and other
logic is the same as that of ordinary welding.

4. "Wire withdrawal time" can be set longer, and the withdrawal action is still
executed after the welding is closed.

5. Judge the start time of arc stopping in advance according to the "Arc end
distance" (slow descent process).

17
5.3 PLC description

The PLC of laser welding is different from that of ordinary arc welding. The
specific editing and description are as follows:

Fig.5.5

5.4 Command description

5.4.1 Command position

Command path 1:【Command】-【5 Welding】

1 ARC START

2 ARC END

Fig.5.6

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 CROBOTP | Laser Welding System Manual

Command path 2:【Weld command】

1 ARC START

2 ARC END

Fig.5.7

5.4.2 ARC START

Run this command, and the program will call the preset welding parameters
to start the arc. The variable number is the welding parameter file number, and
the range is 0-999.

This command is used in pairs with "ARCEND" command.

The program running speed between "ARCSTART" and "ARCEND" is not

controlled by automatic multiplier. Only "MOVL" and "MOVC" instructions can
be used between. The instruction structure is as follows:

Fig.5.8

1.Welding arc starting instruction

2. Variable No.: the file number of welding parameters to be called.

3. Selection of welding speed treatment method:

• blank: The track motion program between "ARC START" command and
"ARC END" command runs according to the speed set by the movement
command. (this bit parameter is not displayed).

• %：Sets the track motion speed multiplier between "ARC START"

19
 command and"ARC END" command. The actual speed is the speed in the
motion command multiplied by this speed multiplier (displayed in percentage
format).

• MM/S：The track motion program between "ARC START" command

and"ARC END" command runs according to the speed set by "ARC START"
command.

4. Setting of running speed value between arcing and arcing end.

5. Voltage and current setting selection:

• Blank: if welding current and voltage are not set, 5 and 6 are not displayed.

• "I V ":Select the specified setting of welding current and voltage values,
and operate according to the set parameters after setting.

6. "I": Set welding current.

7. "V": Set welding voltage .

5.4.3 ARCEND

Run this instruction, the presetted welding parameters are called to start
arc. The variable number is the welding parameter file number, and the range is
0-999.

This command is used in pairs with the "ARCEND" command.

Fig.5.9

1. Welding arc ending instruction.

2. Variable number: the file number of welding parameters to be called.

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 CROBOTP | Laser Welding System Manual

5.5 Sample program

1. MOVJ VJ=60.% PL=0 TOOL=1 //Move to a safe point

2. MOVL VL=100.0MM/S PL=0 TOOL=1 //Move to the welding

starting point

3. ARCSTART#(0) 6.0mm/s //Start to weld

4. MOVL VL=100.0MM/S PL=0 TOOL=1 //Move to the end of welding

5. ARCEND //Welding completed

6. MOVL VL=100.0 MM/S PL=0 TOOL=1 //Move to transition point

7. MOVJ VJ=60.0% PL=0 TOOL=1 //Move to a safe point

The editing of laser welding procedure is basically the same as that of

ordinary welding procedure.

6. Laser welding process and control logic description

Fig.6.1

21
6.1 Arcing process

Step1：The robot reaches the welding point and runs the arc starting
command;

Step2：Gas supply in advance;

Step3：Output the welding signal, and the laser equipment completes the
starting action;

Step4：Receive the laser ready signal.

1）Starting power → welding power (ramp up time), starting wire feeding →

welding wire feeding (ramp up time)；

2）Output wire feeding signal;

3）Run the motion command and the robot starts to move.

6.2 Arc ending process

Judge the arc ending distance (slow descent stage).

Step1：

Reset the wire feeding signal and set the wire withdrawing signal.

Welding power → arc ending power (arc ending distance), welding wire
feeding → arc ending wire feeding (arc ending distance).

*Gradient time during arc ending: calculated according to the set arc ending
distance and current motion speed;

*The duration of the wire withdrawal signal is determined by the [wire

withdrawal time] parameter and is reset after the time.

Step2：

The robot moves to the arc ending point.

1）Reset the arc welding signal;

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2）Start lagging gas supply .

Step3：The lagging gas supply ends, the welding is completed, and the
robot moves.

Special note:

When using the wire filling function of laser welding, several points need to
be considered in the arc ending process in order to make the wire not stick after
arc stopping.

1) According to the welding speed, set an appropriate distance to stop the

arc in advance.

2) Set the appropriate withdrawing time.

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Chengdu CRP Robot Technology CO.,LTD

86）028-84203568
[email protected]

www.crprobot.com

No.188 Huayue Road, Chenghua District, Chengdu, China

Due to the continuous improvement of products, product design, content and

specifications are subject to change without notice.
The contents of this manual shall not be copied without permission.
Copyright © 2023 Chengdu CRP Robot Technology CO.,TLD.All rights reserved.
(Ver2.0: 2023-03-21,)