1018DED Arc Welding As Reference Manual

Kawasaki Robot Controller
D Series
Arc Welding
AS Language
Reference Manual
Kawasaki Heavy Industries, Ltd.
90209－1018DED
D Series Controller
Kawasaki Robot Arc Welding AS Language Reference Manual
PREFACE
This manual describes AS language used in the arc weld type Kawasaki Robot Controller D series.
It describes in detail AS language commands/ instructions used in arc welding, so as to provide
information for effective use of the AS system. Operation procedures and standard AS language
are not described in this manual; please refer to Operation, Arc Weld Operation, and AS
Language Reference Manual. In addition, this manual should be read with careful review of the
related manuals listed below.
1. Safety Manual
2. Installation and Connection Manual for Arm
3. Installation and Connection Manual for Controller
4. External I/O Manual (for connecting with peripheral devices)
Not every possible operation, condition or situation that should be avoided can be described in
full. Therefore, should any unexplained questions or problems arise during robot operation,
please contact Kawasaki Machine Systems. Refer to the contact information listed on the rear
cover of this manual for the nearest Kawasaki Machine Systems office.
The explanations in this manual include information on optional functions, but depending on the
specification of each unit, not every optional function detailed here may be included with the
robot. For information on optional functions for arc welding, see Arc Plate Welding Option
Operation Manual, TIG Welding Operation Manual.
1. This manual does not constitute a guarantee of the systems in which the robot is utilized.
Accordingly, Kawasaki is not responsible for any accidents, damages, and/or problems
relating to industrial property rights as a result of using the system.
2. It is recommended that all personnel assigned for activation of operation, teaching,
maintenance or inspection of the robot attend the necessary education/training course(s)
prepared by Kawasaki, before assuming their responsibilities.
3. Kawasaki reserves the rights to change, revise, or update this manual without prior notice.
4. This manual may not, in whole or in part, be reprinted or copied without the prior written
consent of Kawasaki.
5. Store this manual with care and keep it available for use at any time. In the event the manual
is lost or damaged severely, contact your Kawasaki agent.
6. Though this manual was prepared to be as thorough and accurate as possible, the authors
apologize should any information be found incomplete or erroneous.
All rights reserved. Copyright © 2007 Kawasaki Heavy Industries Ltd.
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SYMBOLS
The items that require special attention in this manual are designated with the following symbols.
Ensure proper and safe operation of the robot and prevent physical injury or property damage by
complying with the safety matters given in the boxes with these symbols.
！ DANGER
Failure to comply with indicated matters can result in

imminent injury or death.
！ WARNING
Failure to comply with indicated matters may possibly lead
to injury or death.
！ CAUTION
Failure to comply with indicated matters may lead to
physical injury and/or mechanical damage.
[ NOTE ]
Denotes precautions regarding robot specification,

handling, teaching, operation and maintenance.
！ WARNING
1. The accuracy and effectiveness of the diagrams, procedures, and detail

explanations given in this manual cannot be confirmed with absolute
certainty. Accordingly, it is necessary to give one’s fullest attention when
using this manual to perform any work. Should any unexplained
questions or problems arise, please contact Kawasaki Machine Systems.
2. Safety related contents described in this manual apply to each individual
work and not to all robot work. In order to perform every work in safety,
read and fully understand the safety manual, all pertinent laws, regulations
and related materials as well as all the safety explanation described in each
chapter, and prepare safety measures suitable for actual work.
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CONTENT
Preface ············································································································································· i
Symbols············································································································································ ii
1.0 Rules Regarding Use of AS Language for Arc Welding························································ 1-1
2.0 General Commands················································································································· 2-1

W1SET command/instruction······································································································· 2-3
WLIST command·························································································································· 2-7
W.INCHING command/instruction······························································································ 2-8
W.RETRACT command/instruction ···························································································· 2-9
WVSDIR command/instruction·································································································· 2-10
SAVE/ARC command················································································································ 2-12
LTBLSET command/instruction ································································································ 2-13
OGSET command/instruction····································································································· 2-15
JWS instruction ··························································································································· 2-16
LWS instruction ·························································································································· 2-16
LWC instruction·························································································································· 2-17
C1WC instruction ······················································································································· 2-17
C2WC instruction ······················································································································· 2-17
LWE instruction·························································································································· 2-19
C2WE instruction························································································································ 2-19
STWC instruction ······················································································································· 2-21
STWE instruction························································································································ 2-23
DWC instruction ························································································································· 2-25
JAS instruction ···························································································································· 2-26
LAS instruction ··························································································································· 2-26
INSUL_CHK instruction ············································································································ 2-28
... ARC ...system switch ·············································································································· 2-29
... ARC_ALLROB ...system switch···························································································· 2-29
... WVDIR ...system switch········································································································· 2-30
... WVDIRCMDI ...system switch ······························································································ 2-31
3.0 Touch Sensing (Option) ·········································································································· 3-1

XAC instruction ···························································································································· 3-2
XMWIRE instruction···················································································································· 3-4
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SXAC instruction·························································································································· 3-6

RXAC function ····························································································································· 3-8
4.0 Special Pattern Weaving (Option) ·························································································· 4-1

WVLIST command······················································································································· 4-2
WVPTNSET command/instruction ······························································································ 4-3
5.0 RTPM (Option) ······················································································································· 5-1

RTMON command ······················································································································· 5-2
RTGAIN command/instruction ···································································································· 5-4
RTBIAS command/instruction ····································································································· 5-5
RTCYCLOG command/instruction······························································································ 5-6
RTLOGAREA command/instruction ··························································································· 5-7
RTDLYTIME command/instruction ···························································································· 5-8
... RTPM ... system switch ············································································································ 5-9
... RTLOG ... system switch········································································································ 5-10
... RTCMDI ... system switch······································································································ 5-11
... RTCONT ... system switch ····································································································· 5-12
RTGETNUM function················································································································ 5-14
RTHERE function······················································································································· 5-15
6.0 Start Point Sensing (Option) ··································································································· 6-1

SSENSPTN command/instruction································································································ 6-2
...SSENSING... system switch ······································································································ 6-3
7.0 Weld Condition Database (Option)························································································· 7-1

DBUSE command/instruction ······································································································ 7-2
SETPASS command/instruction··································································································· 7-4
GET1WCON command/instruction ····························································································· 7-5
GET2WCON command/instruction ····························································································· 7-7
GETWPOS command/instruction ································································································ 7-9
GETWAUX command/instruction ····························································································· 7-10
DBCLEAR command················································································································· 7-11
DBNAME command/instruction ································································································ 7-12
DBCREATE command/instruction ···························································································· 7-13
DBWRITE command/instruction ······························································································· 7-14
INSPASS command/instruction·································································································· 7-16
DELPASS command/instruction ································································································ 7-17
GETPASS function····················································································································· 7-18
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DBFREE function······················································································································· 7-19
8.0 External Axis Control ············································································································· 8-1

POINT/7 command/instruction····································································································· 8-2
POINT/10 command/instruction··································································································· 8-2
POINT/EXT command/instruction······························································································· 8-2
DEXT function······························································································································ 8-4
TRADD function··························································································································· 8-5
TRSUB function ··························································································································· 8-7
9.0 TIG Welding (Option) ············································································································ 9-1

WLIST command·························································································································· 9-9
LTBLSET command/instruction ································································································ 9-10
OGSET command/instruction····································································································· 9-12
DSLOPEGAIN command/instruction ························································································ 9-13
USLOPEGAIN command/instruction ························································································ 9-13
SSDOWN system switch ············································································································ 9-15
10.0 AVC (Option) ····················································································································· 10-1

AVCMON command·················································································································· 10-2
AVCSET command/instruction·································································································· 10-3
AVCGAIN command/instruction······························································································· 10-4
AVCBIAS command/instruction································································································ 10-5
... AVC ... system switch············································································································· 10-6
...AVCBASE ... system switch ··································································································· 10-7
11.0 Servo Torch (Option) ·········································································································· 11-1

AWINCH command/instruction································································································· 11-2
AWFSSEQ command/instruction······························································································· 11-3
AWFESEQ command/instruction ······························································································ 11-5
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12.0 MIG/TIG Switching Function (Option) ············································································ 12-1

TIG command/instruction··········································································································· 12-2
TOOL/F command/instruction···································································································· 12-3
AWSET_START command/instruction····················································································· 12-4
AWSET_RETRY command/instruction ···················································································· 12-5
AWSET_STICK command/instruction······················································································ 12-6
AWSET_SPOT command/instruction························································································ 12-7
AWSET_FLOW command/instruction ······················································································ 12-8
Appendix 1 Sample Programs ····························································································· A-1

Appendix 1.1 Single Pass Linear Arc Welding······································································ A-1
Appendix 1.2 Single Pass Linear Arc Welding ···································································· A-2
Appendix 1.3 Arc Spot Welding ···························································································· A-3
Appendix 1.4 Adjusting Wire Extension by Touch Sensing·················································· A-4
Appendix 1.5 Single Pass Welding Using Weld Condition Database ··································· A-6
Appendix 1.6 Multi-layer Welding Using Weld Condition Database ··································· A-7
Appendix 1.7 Arc Welding Using Touch Sensing ································································· A-9
Appendix 2 Error Messages for Arc Welding··································································· A-18
Appendix 3 List of AS Language for Arc Welding (Alphabetical Order)························ A-20
Appendix 4 Software Dedicated Signals for Arc Welding ··············································· A-23
Appendix 5 ASCII Codes·································································································· A-24
Appendix 6 Arc Welding AS Language with Robot Number
for Multi D Series Controller········································································· A-27
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D Series Controller 1.0 Rules Regarding Use of AS Language for Arc Welding
1.0 RULES REGARDING USE OF AS LANGUAGE FOR ARC WELDING
！ CAUTION
When using the AS language for arc welding, be sure to follow

these rules in order to weld properly.
1. Start a welding program using weld start point commands.

Weld start point commands are JWS and LWS.
LWC and LWE commands cannot be used to start a welding program.
Good! LMOVE p1 Bad! LMOVE p1

LWS a1 LWC a1,1
・・
・・
・・
・・
・・
2. End a weld program using weld end point commands.

Weld end commands are LWE and C2WE commands.
LWS and LWC commands cannot be used to terminate weld programs.
LMOVE p1 LMOVE p1
Good! LWS a1 Bad! LWS a1
LWE a2,1,1 LMOVE a2
・・
・・
・・
・・
・・
1-1
3. Only weld continue commands can be used as motion commands between weld start command
and weld end command.
Weld continue commands are LWC, C1WC and C2WC.
Motion commands such as LMOVE and JMOVE cannot be used.
LMOVE p1 LMOVE p1
Good! LWS a1 Bad! LWS a1
LWC a2,1 LMOVE a2
LWE a3,1,1 LWE a3,1,1
・・
・・
・・
・・
・・
4. There should be no more than 127 teach points for one (1) pass (from weld start point to weld
end point).
Maximum of 125 weld continue commands can be used between a weld start command and
a weld end command.
5. When using RTPM or AVC functions (Option), do not use weld continue commands within a
FOR structure.
Program so only one LWC, C1WC or C2WC command is written on one (1) line.
RTPM ON RTPM ON
Good! LWS a[1] Bad! LWS a[1]
LWC a[2],1 FOR j=2 to 4
LWC a[3],1 LWC a[j],1
LWC a[4],1 END
LWE [5],1,1 LWE a[5],1,1,
・・
・・
・・
・・
・・
1-2
6. When using RTPM or AVC functions (Option), add the following two (2) lines to use
commands (LDEPART, JDEPART, DRAW, DELAY, etc.) whose target pose following the
weld end point is defined based on the data in the weld end point.
Due to the seam tracking of RTPM and AVC functions, the actual weld end point may not
coincide with the point first planned. LDEPART command, etc. calculates the target pose
from the current pose. Avoid this by adding the lines below, and make the robot calculate
the target pose from the planned end point.
RTPM ON
LWS a1
LWE a2,1,1
BREAK
Add these two (2) lines.
JMOVE HERE
LDEPART 100
・
・
・
・
・
1-3
Memo
1-4
D Series Controller 2.0 General Commands
2.0 GENERAL COMMANDS
This chapter explains AS language used for arc welding operations in general.
Monitor Command
W1SET Sets arc weld condition
W2SET Sets crater and arc spot weld condition
WLIST Displays weld conditions
W.INCHING Feeds filler wire
W.RETRACT Retracts filler wire
WVSDIR Sets motion direction as robot weaves in stationary welding
(robot does not travel)
SAVE/ARC Saves welding data to memory devices
LTBLSET Sets linearization data
OGSET Sets offset/ gain
Program Instruction (Motion Instructions)

JWS Sets weld start point (joint interpolated motion)
LWS Sets weld start point (linear interpolated motion)
LWC Sets weld continue point (linear interpolated motion)
C1WC Sets weld continue point (circular interpolated motion 1)
C2WC Sets weld continue point (circular interpolated motion 2)
LWE Sets weld end point (linear interpolated motion)
C2WE Sets weld end point (circular interpolated motion 2)
STWC Sets weld continue point in stationary welding
STWE Sets weld end point in stationary welding
JAS Sets arc weld point (joint interpolated motion)
LAS Sets arc weld point (linear interpolated motion)
Program Instruction (Non-motion instruction)

W.INCHING Feeds filler wire
W.RETRACT Retracts filler wire
WVSDIR Sets motion direction as robot weaves in stationary welding
(robot does not travel)
2-1
DWC Sets weld condition in stationary welding

INSUL_CHK Checks insulation failure
System Switch
ARC Enables/ disables welding
ARC_ALLROB (Multi D Controller) Enables/ disables welding in all robots.
WVDIR Enables/ disables use of the motion direction specified by
WVSDIR instruction
WVDIRCMDI Switches timing for enabling/disabling WVSDIR command/
instruction
EXAMPLE
Keyword Parameter
DSLOPEGAIN inclination
Parameters marked with can be omitted.
Always enter a space between the keyword and the parameter.
↵ represents the Enter key in the examples.
When using Multi D Series Controller, robot number must be specified in some of the AS
languages to clarify the target robot. Parameter n: (where n= 1, 2, 3 …) is inserted right after the
keyword, as shown in the example below. See Appendix 6 for AS languages that require robot
number specifications.
Example
W.INCHING 1: 10， 1
2-2
Monitor Command
Program Instruction
W1SET weld condition number = speed, current, voltage, weaving width,
weaving frequency, pattern number, pole ratio
Specify robot number when using Multi D Controller.
Function
Sets weld conditions.
Parameter
Weld condition number
Sets weld condition number. Settable range: 1 to 20.
Speed
Sets welding speed. Unit is cm/min. Settable range: 1 to 999 cm/min.
Current
Sets welding current. Unit is A (ampere). Settable range: 0 to 999 A.
Voltage
Sets welding voltage. Unit is V (voltage). Settable range: 0 to 100.0 V.
Weaving width
Sets weaving width. Unit is mm (millimeter). Settable range: 0 to 160.0 mm.
Weaving frequency
Sets the frequency for weaving motion. Unit is Hz (hertz). Settable range: 0 – 4.0Hz.
Pattern number (Option)

Sets the pattern number for special pattern weaving. Settable range: 0 – 10.
Pattern 0 sets single oscillation weaving (standard).
Pole ratio (Option)

Sets the signal to output to the welding controller to specify the positive-negative pole ratio.
Settable range: 0 – 15.
Explanation
All parameters can be specified in forms of real values, real variables, and equations. When
omitted, the value(s) last used in this command/ instruction are set.
2-3
Error occurs if weld condition number is not set within 1to20 or if any weld condition (speed,
etc.) is out of range.
The weld condition number set here and the condition number set in [Auxiliary Function 1401
Arc Weld Condition] are different and not related to each other.
[ NOTE ]
The robot does not weld when the current, voltage, weaving amplitude, or frequency is
set to zero (0). When the system is initialized, no value is set for speed, current, and
voltage, and zero (0) is set for weaving width, weaving frequency and pattern number.
Therefore, always specify all parameters when using this command/instruction for the
first time after initializing. Parameters with no values set will cause error when LWC
or LWE instructions are executed.
Example 1
>W1SET 1=60,250,28,2,3 ↵ Sets 60cm/min, 250A, 28V, 2mm, 3Hz to weld

condition 1.
>W1SET 2=80 ↵ Values set last time W1SET was executed are
adopted for the omitted parameters, therefore,
80cm/min, 250A, 28V, 2mm, 3Hz are set to weld
condition 2.
Example 2
W1SET 2=s, cur, vlt, wv, fq, pth
2-4
Monitor Command
Program Instruction
W2SET crater weld condition number = time, current, voltage, pole ratio
Function
Sets crater condition or arc spot condition.
Parameter
Crater (arc spot) weld condition number
Sets crater weld or arc spot weld condition number. Settable range: 1 – 20.
Time
Specifies the time to stay stationary (crater treatment time or arc spot welding time). Unit is
seconds. Settable range: 0 – 10.0 seconds.
Current
Sets the welding current. Unit is A. Settable range: 0 – 999A.
Voltage
Sets the welding voltage. Unit is V. Settable range: 0 – 100.0V.
Pole ratio (Option)

Sets the signal output to the weld controller to specify the positive-negative pole ratio. Settable
range: 0 – 15.
Explanation
All parameters can be set using real variables or mathematic equations. When omitted, the
value(s) last used in this command/ instruction are set.
Error occurs if weld condition number is not set within 1 to 20, or if any weld condition (speed,
The crater/arc spot weld condition number set here and the condition number set in [Auxiliary
Function 1402 Arc Spot Weld Condition] are different and not related to each other.
2-5
[ NOTE ]
The robot does not weld when either current or voltage is set to zero (0). When the
system is initialized, no value is set for time, current, and voltage. Therefore, always
specify all parameters when using this command/instruction for the first time after
initializing. Parameters with no values set will cause error when LWC or LWE
instructions are executed.
Example Refer to the examples for W1SET.
2-6
Monitor Command
WLIST condition type, condition number
Function
Displays a list of weld conditions or crater/ arc spot weld conditions set in W1SET or W2SET
command/instruction.
Parameter
Condition type
Specifies 1 or 2. When 1 is specified or omitted, the list of weld conditions set by W1SET is
displayed. When 2 is specified, the list of crater/ arc spot weld conditions set by W2SET is
displayed.
Condition number
Specifies the condition number of the weld condition or arc spot weld condition to display
(Settable range: 1 – 20). When omitted, conditions 1 – 20 are displayed.
Explanation
∗∗∗.∗ is displayed for parameters not set.
>WLIST 2
No. Crater time Cur. Vol. PO
(sec) (A) (V)
1 1.0 150.0 18.0 0
2 2.0 100.0 50.0 0
3 3.0 200.0 20.0 0
4 5.0 200.0 19.0 0
5 5.0 250.0 25.0 0
6 10.0 200.0 19.0 0
7 10.0 250.0 25.0 0
8 ***.* ***.* ***.* 0
9 ***.* ***.* ***.* 0
10 ***.* ***.* ***.* 0
…
>
2-7
Monitor Command
Program Instruction
W.INCHING speed, time
Function
Feeds the filler wire.
Parameter
Speed
Sets the speed to feed the filler wire (settable range: 0 – 100%). When set to 100%, the voltage
set at [Auxiliary function 1404 Arc Weld Setting 1 Linearization 3 Maximum Output Voltage] is
output.
Time
Sets for how much time the wire is to be fed. Unit is seconds. When omitted, 0.5 seconds is
set.
Explanation
The setting by this command has priority over the settings via teach pendant or designated input
signal.
Example
>W.INCHING 10,1 ↵ Feeds the filler wire for 1 second at 10% of maximum
speed.
2-8
Monitor Command
Program Instruction
W.RETRACT speed, time
Function
Retracts the filler wire.
Parameter
Speed
Sets the speed for retracting the filler wire (settable range: 0 to 100%). When set to 100%, the
voltage set at [Auxiliary Function 1404 Arc Weld Setting 1 Linearization 3 Maximum Output
Voltage] is output.
Time
Sets for how much time the wire is to be retracted. Unit is seconds. When omitted, 0.5
seconds is set.
Explanation
The setting by this command has priority over the settings via teach pendant or designated input
signal.
Example
>W.RETRACT 20,0.5 ↵ Retracts the filler wire for 0.5 seconds at 20%of
maximum speed.
2-9
Monitor Command
Program Instruction
WVSDIR x, y, z
Function
Sets the imaginary traveling direction for the robot as it weaves via stationary weld commands
(STWC, STWE).
Parameter
x, y, z
Specifies the vector components describing the robot’s imaginary traveling direction based on
base coordinates.
Explanation
This command can be used with other nontostationary weld commands to make the robot weave
in a direction that is different from the robot traveling direction.
The weaving direction set here is valid only when the system switch WVDIR is ON.
0 is set for the omitted parameters. When all parameters are omitted, the current values are
normalized (converted into vector with size of 1) and displayed (see display example on the next
page).
Vector for traveling

direction
Weaving direction
Traveling direction
Y
X
The robot will weave perpendicular to the traveling direction.
2-10
Example
>WVSDIR, 1 ↵ Sets the imaginary traveling direction as the direction of
base Y axis.
>WVSDIR 1,1,0 ↵
>WVSDIR ↵ The set traveling direction vector is normalized and

displayed.
X[mm] Y[mm] Z[mm]
0.71 0.71 0
Change？ (If not, hit RETURN only) ↵
>
2-11
Monitor Command
SAVE/ARC file name
Function
Saves the arc weld data into file on external memory device.
Parameter
File name
Specifies the name of the arc weld data file to save. When file extension is omitted, “.AW” is
automatically added to the file name.
Explanation
Several data types can be specified and saved in one file. In this case, if the extension is omitted,
“.AS” is automatically added to the file name. Following types of data can be specified:
/P program /SYS system data
/L pose data /ROB robot data
/A auxiliary data etc. （See AS Language Reference Manual SAVE command）
When saving the file under a name that already exists in the external memory device, “B” is
added to the beginning of the extension of the existing file and saved as a separate file.
Example
>SAVE/ARC file1 ↵ Saves to the disk the arc weld data under the name
“file1.aw”
>SAVE/ARC/SYS file2 ↵ Saves to the disk the arc weld data and system data under
the name “file2.aw”.
2-12
Monitor Command
Program Instruction
LTBLSET type number, line number =
command current (voltage), output voltage (wire feeding motor speed)
Function
Sets the Linearization table as set in [Auxiliary function 1404 Arc weld setting 1 Linearization in
AS language]. For Servo torch application (Option), also sets the Linearization table as set in
[Aux. 1404 Arc weld setting – 16 Servo Torch - 1 Linearization] in AS language
Parameter
Type number
Specifies whether the linearization data to set is current, voltage or current – wire feeding motor
speed. (1: current, 2: voltage, 3: current – wire feeding motor speed)
Line number
Specifies the line number in which data will be set. Settable range:1 – 16.
Command current (voltage)

Specifies the current or voltage to set. Settable range: current 0 to 999A, voltage 0 to 99.9V.
When omitted, no changes are made to the current values.
Output voltage (wire feeding motor speed)

Specifies the output voltage or the wire feeding motor speed (for servo torch option only) to set.
Settable range for output voltage: 0 to 15000mv, for wire feeding motor speed: 0 – 999 rpm.
When omitted, no changes are made to the current values.
Explanation
Linearization table is changed in cases such as when a robot uses two different types of weld
machines.
[ NOTE ]
In this command, the set data are sorted in ascending order of the command
current (voltage). The line where current or voltage is set at 0 is regarded as
end of data, and sorted to the bottom of the table.
2-13
Example1
FOR i=1 TO 16
LTBLSET 1，1 = 0， 0 Clear all linearization data.
LTBLSET 2，1 = 0， 0 All line numbers can be set as 1 (they will be sorted by
current or voltage value)
END
FOR i=1 TO 12
LTBLSET 1，i = a_com[i]， a_da[i] Sets current and voltage for 12 lines.
LTBLSET 2, i = v_com[i], v_da[i]
END
In the program above, the values may be set as following:
small
a_com[1] = 32 a_da[1] = 500
Current
a_com[2] = 64 a_da[2] = 1375

::
acom[12] =384 a_da[12] =11523
large
v_com[1] = 3.2 small v_da[1] = 1100

Voltage
v_com[2] = 6.4 v_da[2] = 2950

::
vcom[12] =38.4 v_da[12] =12000
large
Example 2
LTBLSET 1,12 =,12800 Only the output voltage is changed for line 12. The
current is not changed.
2-14
Monitor Command
Program Instruction
OGSET type number = offset, gain
Function
Sets the linearizer offset and gain set in [Auxiliary function 1404 Arc weld setting 2 Offset/gain]
via AS language command.
Parameter
Type number
Specifies whether the offset/gain to set is current or voltage. (1: current, 2: voltage)
Offset
Specifies the offset value to set. Settable range: -9999mV to 9999mV. When omitted, no
changes are made to the current values.
Gain
Specifies the gain value to set Settable range: 0.0 to 9.999. When omitted, no changes are
made to the current values.
Example 1
>OGSET 1=320, 0.98 ↵
>OGSET 2=-102, 1.321 ↵
>OGSET 1= , 0.87 ↵ Only the gain value is changed and not the offset value.
Example 2
OGSET 1 = 320, 0.98
OGSET 2 = -102, 1.321
2-15
Program Instruction
JWS pose name
LWS pose name
Function
Sets the weld start point. Starts robot motion towards the specified pose, and prepares robot for
welding when it reaches that pose.
JWS： Joint interpolated motion (See JMOVE)
LWS： Linear interpolated motion (See LMOVE)
Parameter
Pose name
Specifies the pose of the weld start point (Transformation values, joint displacement values, pose
data functions or compound transformation values).
Explanation
1. The accuracy at weld start point is automatically set at 5 mm.
2. Preflow procedure is performed at weld start point.
3. The weld start sequence is activated at weld start point.
Example
See also LWC, LWE program instruction.
2-16
Program Instruction
LWC pose name, weld condition number
C1WC pose name, weld condition number
C2WC pose name, weld condition number
Function
Sets weld continue point. The robot welds under the specified welding condition during motion
to the specified pose.
LWC： linear interpolated motion (See LMOVE)
C1WC： circular interpolated motion (See C1MOVE)
C2WC： circular interpolated motion (See C2MOVE)
[ NOTE ]
C1WC is generally used for motion to a midpoint on a circular path, and
C2WC to an endpoint on a circular path. Robot creates a circular
trajectory using the following three points:
C1WC instruction: 1. Pose of previous motion instruction

(Midpoint of circle) 2. Pose specified in C1WC
3. Pose of the next motion instruction
C2WCinstrution 1. Pose of C1WC before this instruction

(Endpoint of circle) 2. Pose of motion instruction before C1WC
3. Pose specified in C2WC
Parameter
Pose name
Specifies the midpoint of the welding motion. (Transformation values, joint displacement values,
pose data functions or compound transformation values).

Specifies a weld condition number set by W1SET command/instruction (settable range: 1 to 20).
When omitted, the last condition number specified by this instruction in the current program is
set.
Explanation
1. To prevent unspecified changes in motion speed, accuracy at weld continue point is set
automatically.
2-17
2. Weld start retry sequence is activated if the motion to weld continue point is held by
HOLD/RUN, etc. and then resumed.
[ NOTE ]
Do not omit the weld condition number parameter when using this
instruction the first time in a program. If omitted error occurs when
the program processes this instruction.
Example
W1SET 1= 60,250,28,2,2 Sets weld condition 1 as SP=60cm/min, A=250A, V=28V, weaving
width=2mm, frequency=2Hz.
W1SET 2= 50,290,32,3,1 Sets weld condition 1 as SP=50cm/min, A=290A, V=32V, weaving
width=3mm, frequency=1Hz.
JWS #a0
LWC #a1,1 Welds to point #a1 by weld condition 1.
LWC #a2 Welds to point #a2 by weld condition 1. (Omitting weld condition
number here specifies the last set condition number).
LWC #a3,2 Welds to point #a3 by weld condition 2.
Weld continue
Weld continue point #a3
point #a1
Weld continue
Weld start point #a2
point #a0
2-18
Program Instruction
LWE pose name, weld condition number, crater weld condition number
C2WE pose name, weld condition number, crater weld condition number
Function
Sets the weld end point. The robot welds by specified weld condition during motion to the
specified pose. When it reaches the pose, crater is filled.
LWE: linear interpolated motion (See LMOVE)
C2WE: circular interpolated motion (See C2MOVE)
Parameter
Pose name
Specifies the weld end point (transformation values, joint displacement values, pose data
functions, and compound transformation values).

Specifies the weld condition number set by W1SET. Settable range: 1 to 20. When omitted,
the last condition number specified by this instruction in the current program is set.
Crater weld condition number

Specifies the crater weld condition number set by W2SET. Settable range: 1 to 20. When
omitted, crater welding is not done.
Explanation
1. The accuracy at weld end point is automatically set at 1 mm.
2. Weld start retry sequence is activated when motion to weld end point is held by HOLD/RUN,
etc. and then resumed.
3. When crater condition is set, wire stuck check is done after crater treatment. If the wire is
stuck, wire stuck cancel sequence works.
4. Afterflow is performed at weld end point.
[ NOTE ]
Do not omit the weld condition number parameter when using this
instruction the first time in a program. If omitted error occurs when
the program processes this instruction.
2-19
Example
W1SET 1= 80,200,25 Sets SP=80cm/min, A=200A, V=25V to weld condition 1.

W2SET 1= 1,120,20 Sets Ct=1sec, CA=120A, CV=2V to crater condition 1.
JAPPRO a1, 200
LWS a1 Moves to weld start point a1.
C1WC a2， 1 Moves in circular interpolated motion to weld continue point a2
while welding in weld condition 1.
C1WC a3 Moves in circular interpolated motion to weld continue point a3
while welding in weld condition 1 (Weld condition number
parameter is omitted).
C2WE a1， 1， 1 Moves in circular interpolated motion to weld end point a1 while
weld condition 1. After reaching a1, fills the crater by crater weld
condition 1.
LDEPART 200
a2
a1
crater
a3
2-20
Program Instruction
STWC positioner speed number, weld condition number, time
Function
Sets weld continue point for stationary welding using positioner, etc. The positioner ON signal
and signal indicating positioner speed are output, and the robot welds by specified weld condition
without changing position. The next instruction is executed when either the positioner stop
signal is input or when the specified time elapses.
Parameter
Positioner speed number
Sets the signal value in decimal notation used for specifying the positioner speed (Max. 8 bits).
The number of signals and the signal number used for setting are set by DEFSIG command (see
also Appendix 4 Software Designated Signals for Arc Welding).

Specifies the weld condition number set by W1SET instruction. Settable range: 1 to 20. When
omitted, the last condition number specified by this instruction in the current program is set.
Time
Sets the maximum time to weld at the specified pose. Unit is seconds. The program execution
moves on to the next instruction when positioner stop signal is input, but if the time specified here
passes before the signal is input, the robot will also go on to the next instruction. When omitted,
there will be no time limit.
[ NOTE ]
Positioner ON signal, positioner speed signal, positioner stop signal are set
using DEFSIG command.
When welding with weaving motion, set the weaving direction using
WVSDIR instruction and WVDIR system switch.
Since the robot remains stationary when welding by STWC instruction, the
weld speed set in W1SET command/instruction is ignored.
2-21
Example
W1SET 1= 60,250,28,0,0,0
W1SET 2= 55,260,29,0,0,0
LWS a Robot starts to weld at point a.
STWC 5,1,20 The robot welds by weld condition 1 at point a. The positioner
speed number is 5.
STWC 7,2,20 After 20 second passes or when the positioner stop signal is input,
the robot starts to weld by weld condition 2 at point a. The
positioner speed number is 7.
Positioner
2-22
Program Instruction
STWE positioner speed number, weld condition number,
crater weld condition number, time
Function
Sets weld end point for stationary welding using positioner, etc. The positioner ON signal and
the signal indicating positioner speed and are output, and the robot welds by specified weld
condition without changing position. When either the positioner stop signal is input or the
specified time elapses, the positioner stops and the robot starts filling crater.
Parameter
Positioner speed number
Sets the signal value in decimal notation used for specifying the positioner speed (Max. 8 bits).
The number of signals and the signal number used for setting are set by DEFSIG command (see
also Appendix 4 Software Designated Signals for Arc Welding).

Specifies the weld condition number set by W1SET instruction. Settable range: 1to 20. When
omitted, the last condition number specified by this instruction in the current program is set.
Crater weld condition number

Specifies the crater condition number originally set using W2SET command/instruction.
Settable range: 1 – 20. When omitted, crater treatment is not done.
Time
Sets the maximum welding time. Unit is seconds. The program execution moves on to next
instruction when positioner stop signal is input, but if the time specified here passes before the
signal is input, the robot will stop welding. When omitted, there will be no time limit.
2-23
[ NOTE ]
Positioner ON signal, positioner speed signal, positioner stop signal are set
using DEFSIG command.
When welding with weaving motion, set the weaving direction using
WVSDIR instruction and WVDIR system switch.
Since the robot remains stationary when welding by STWE instruction, the
weld speed set in W1SET command/instruction is ignored.
Example
Z b
a
Positioner
Base coordinates
Y
W1SET 1= 60,250,28,5,2,0
W1SET 2= 55,260,29,5,2,0
W2SET 1= 1,120,20
WVSDIR 0,1,0 Sets an imaginary traveling direction of the robot along base Y axis.
WVDIR ON
LWS a Robot starts to weld at point a.
STWC 1,1,10 Welds by weld condition 1 at point a.
The positioner speed number is 1.
STWE 3,2,1,5 After 10 seconds or when positioner stop signal is input, welds by
weld condition 2 at point a. Positioner speed number is 3.
LMOVE b After 5 seconds or when positioner stop signal is input, the robot
ends welding and moves to point b.
2-24
Program Instruction
DWC Stop time, Welding condition No.
Function
After the axis coincidence of the motion by the weld instruction set right before this instruction,
robot executes stationary weld for the set stop time under the set welding condition and then
moves to the next step.
Parameter
Stop time
Input a real value. [sec] (Setting range: 0 ∼ 43200 sec/half a day)
This cannot be omitted. Arc weld time is decided by the time set as the stop time (time after
receiving the current detection signal from welder).
Welding condition No.

The welding condition No. set by the W1SET instruction is set (Setting range: 1 ∼ 20). If
omitted, the welding condition set previously is used.
Explanation
1. To execute weaving, it is necessary to set the virtual direction of movement by the WVSDIR
instruction and to enable the WVDIR switch. If the direction is not set, robot stops due to
error.
2. If a pattern No. of the special pattern weaving is set by the W1SET command/instruction,
robot executes stationary weld while executing weaving in the registered pattern. However,
the weaving direction must be set by the WVDIR switch and WVSDIR instruction.
[ NOTE ]
As weld is done without robot motion to weld direction, the welding speed set by the W1SET
command/ instruction is ignored. If the robot is held and run during the execution of the
DWC command, it moves to the next step after the remaining welding time passes.
Example
W1SET 1 = 120,20,30,2,3
W2SET 1 = 0.5,18,15
LWS #ws
DWC 20,1 Robot stops at #ws pose for 20 seconds and executes stationary weld
under the welding condition 1.
LWE #we,1,1
LDEPART 50
2-25
Program Instruction
JAS pose name, arc spot weld condition number
LAS pose name, arc spot weld condition number
Function
Specifies a pose for performing arc spot welding. The robot starts to move toward the specified
pose, and when it reaches that pose, spot welds at that position.
JAS: Joint interpolated motion (see JMOVE)
LAS: Linear interpolated motion (see LMOVE)
Parameter
Pose name
Specifies the point to arc spot weld. (Transformation values, joint displacement values, pose
data functions, compound transformation values)
Arc spot weld condition number

Specifies the arc spot weld condition set by W2SET command/instruction. Settable range: 1 –
20. When omitted, the last condition number specified by this instruction in the current program
is set.
Explanation
1. Preflow and afterflow are done at arc spot point.
2. Arc spot sequence is activated at the arc spot point.
3. Wire stuck check is done at arc spot point after the welding. If wire is stuck, wire stuck
cancel sequence is activated.
4. The accuracy at arc spot point is automatically set at 1 mm.
[ NOTE ]
Do not omit the arc spot weld condition number parameter when using
this instruction the first time in a program. If omitted, error occurs
when the program processes this instruction.
2-26
Example
a a
arc spot point

a
W2SET 1= 1,120,15 Sets Ct=1 sec, CA=120A, CV=15V to arc spot weld condition 1.
LMOVE a1
LAS a2,1 Spot welds by arc spot weld condition 1 at point a2.
LMOVE a3
2-27
Program Instruction
INSUL_CHK
Function
Checks if torch is currently short-circuited to the workpiece before executing weld program.
Explanation
Checks for insulation failure. If insulation is defective, error occurs and robot program stops.
Example
INSUL_CHK Checks insulation before executing welding.
W1SET 1= 60,250,28,2,2
W1SET 2= 50,290,32,3,1
JWS #a0
LWC #a1,1
LWE #a3,2,2
2-28
System Switch
. . . ARC . . .
Function
Allows/ disallows execution of welding.
Explanation
When this switch is ON (enabled), the robot welds when welding instructions are executed.
When this is OFF (disabled), the robot does not weld.
Welding can be also enabled/disabled by following methods. The last setting made regardless of
the method remains valid. Default for this switch is OFF.
1. Turning ON/OFF the WELD ON/OFF key on the teach pendant.
2. Using the Weld ON/OFF signal from software dedicated signals.
Example
ARC ON Enables (turns ON) welding.
LMOVE a1
LWS w1
The robot performs welding during these steps.
LWE w2,1,1
LMOVE a2
ARC OFF Disables (turns OFF) welding.
LMOVE a1
LWS w1
The robot does not weld during these steps.
LWE w2,1,1
LMOVE a2
System Switch
．． ARC_ALLROB ．．．
For Multi D Controller only
Function
Allows/ disallows execution of welding is all connected robots. This command is used only
with Multi D Series Controller.
Explanation
When this switch is ON (enabled), all connected robots weld when welding instructions are
executed. When this is OFF (disabled), the robots do not weld. Default for this switch is ON.
2-29
System Switch
. . . WVDIR . . .
Function
Allows/ disallows use of the imaginary traveling direction set with WVSDIR command.
Explanation
When this switch is ON, the traveling direction set in WVSDIR is made valid as the traveling
direction vector. When this is OFF, WVSDIR settings are invalid.
Default setting for this switch is OFF.
Example
W1SET 1=60,250,28,2,3
WVSDIR 1 Sets the imaginary traveling direction along the base X axis.
WVDIR ON Enables WVSDIR setting.
LMOVE a1
LWS w1
LWE w2,1,1 The robot performs weaving perpendicular to base X axis.
LMOVE a2
WVDIR OFF Ignores the setting by WVSDIR.
LMOVE a1
LWS w1
LWE w2,1,1 Performs weaving perpendicular to the motion direction of the torch.
LMOVE a2
2-30
System Switch
… WVDIRCMDI …
Function
This switches the timing of when the setting by the WVSDIR command/instruction is enabled;
after the execution completion of step or immediately.
Explanation
If this switch is enabled (ON), the setting by the WVSDIR command/instruction is enabled
immediately after the WVDIR ON switch command/instruction is read. On the other hand, if
this switch is disabled (OFF), the setting by the WVSDIR command/instruction is enabled after
the execution completion of each step.
At the initialization, this switch is set to ON.
Example
WVDIRCDMI OFF Enables the setting by WVSDIR after the completion of step.
W1SET 1=60,250,28,2,3
WVSDIR 1 Sets the virtual direction of movement to the Base X axis direction.
LWS a0
WVDIR ON Enables the setting by WVSDIR.
STWC 5,1,20 Executes stationary weld while executing weld in the virtual direction
of movement.
WVDIR OFF Disables the setting by WVSDIR.
LWC a1,1 Executes weld while executing weaving in the real direction of
movement.
LWE a1,1
WVDIRCDMI ON Undoes the setting.
[ NOTE ]
1. If the WVDIRCMDI switch is disabled (OFF), the WVDIR switch turns OFF
during the period between the completion of the STWC command execution and
the start of the LWC command execution, and the setting by the WVSDIR
command/instruction (virtual direction of movement) is disabled.
2. If the WVDIRCMDI switch is enabled (ON), the WVDIR switch turns OFF during
the STWC command execution, and the setting by the WVSDIR
command/instruction (virtual direction of movement) is disabled.
2-31
Memo
2-32
D Series Controller 3.0 Touch Sensing (Option)
3.0 TOUCH SENSING (OPTION)
This chapter explains AS language used in touch sensing function (Option).
Program Instruction
XAC Defines pose data by touch sensing
XMWIRE Wire check
SXAC Ignores no workpiece found errors in touch sensing
Real Value Function

RXAC Returns touch sensing results
EXAMPLE
Keyword Parameter
XAC pose name, storage pose name, sensing distance, …
3-1
Program Instruction
XAC pose name, storage pose name, sensing distance, sensing speed
Function
Finds the pose of the workpiece by touch sensing. The robot moves in linear interpolated
motion at the specified speed, towards the specified pose name or position specified by the
sensing distance. When the wire touches a workpiece, robot records that pose as
transformation values and skips to the next step.
Parameter
Pose name
Sets the pose of robot’s destination. (Joint displacement values, transformation values,
compound transformation values, or pose data function)
Storage pose name

Specifies the pose name for storing the transformation values of the pose where wire touches
workpiece. The name cannot be defined by joint displacement values.
Sensing distance
Sets the overrun distance from the specified destination pose. Unit is mm. When the sensing
distance is set, the robot moves toward the point determined by this distance. This point is set
on an extension of the line connecting the point taught as starting pose and the specified
destination pose (pose specified by the first parameter).
When omitted, the touch sensing distance set in [Auxiliary function 1404 Arc Weld Setting - 10
Touch Sensing] will be used.
Sensing speed
Specifies the sensing speed (speed of robot) during motion to the destination point. Unit is
mm/sec. When omitted, the sensing speed set in [Auxiliary function 1404 Arc Weld Setting - 10
Touch Sensing] will be valid.
Explanation
When a workpiece is detected, the program execution jumps to the next step, but when no
workpiece is detected, error E6509 No work detected occurs (Robot comes to an error stop).
This instruction can be used with SXAC instruction or RXAC function to make the program
execution skip if no workpiece is detected.
3-2
When in check mode or if “Step Once” mode is selected in repeat mode, sensing is not
performed, and XAC instruction results in the same motion as LMOVE instruction.
Example
JMOVE #a0
XAC #a1, b, 10, 15
LMOVE #a2
1. Robot moves towards the destination

point, on the extension of the line
connecting #a0 and #a1 and 10 mm
#a0 (sensing distance) away from #a1. The
15mm/sec speed is 15mm/sec.
#a1
10m
Work
Destination
#a0
2. If the wire touches a work while
moving to the destination point, that
pose is stored in variable b. Robot
#a1
then goes on to the next step and
#a2 moving to #a2.
Work
b
Error
#a0
If the robot reaches the destination point
before the wire touches a work, error
#a1
message E6509 No work detected
is displayed, and the robot stops.
Work (See also SXAC instruction and RXAC
function.)
3-3
Program Instruction
XMWIRE pose name, inching speed, retract speed
Function
Performs wire check motion. For example, this instruction is used to keep wire extension even.
The robot moves to the specified pose in linear interpolated motion. For 0.5 seconds after
starting motion, robot retracts the wire at the specified retract speed. When the robot reaches the
specified pose, it feeds the wire for maximum of 5 seconds at the specified inching speed.
When the wire touches a workpiece, the robot stops extending the wire and goes on to the next
step.
Parameter
Pose name
Specifies the robot’s destination pose. (Joint displacement values, transformation values,
compound transformation values, pose data function)
Inching speed
Sets the speed for feeding the wire after stopping at the specified pose. Settable range: 0 to
100%. When omitted, the wire check inching speed set in [Auxiliary function 1404 Arc Weld
Setting - 10 Touch Sensing] is used.
Retract speed
Sets the speed for retracting the wire when robot starts motion towards the destination pose.
Settable range: 0 to 100%. When omitted, the wire check retract speed set in [Aux. 1404 Arc
Weld Setting - 10 Touch Sensing] is used.
Explanation
If the wire touches a workpiece, the program execution jumps to the next step, but if no
workpiece is found within 5 seconds after reaching the destination, error
E6516 Wire check failure occurs. (Robot comes to an error stop.)
When in check mode or if “Step Once” is selected in repeat mode, sensing is not performed, and
XMWIRE instruction results in the same motion as LMOVE instruction.
3-4
Example
JMOVE #a1
XMWIRE #a2, 4, 20 #a2→#a3
LMOVE #a3 If wire touches a work, robot stops
extending the wire and moves to #a3.
#a1
retract
#a3
#a1→#a2
For 0.5 seconds after inching
#a2
#a2
starting to move, robot
Work For 5 seconds after stopping at the
retracts wire at retract
destination pose, wire is fed at
speed of 20%.
inching speed of 4%.
3-5
Program Instruction
SXAC
Function
Makes the robot continue program execution even when no workpiece is found when touch
sensing via XAC instruction.
Explanation
1. When SXAC instruction is executed before XAC instruction, the robot does not stop even if
no workpiece is detected when executing XAC instruction. Use RXAC function to see if
workpiece was detected or not. When workpiece is detected, RXAC function returns −1
(true). When no workpiece is detected, 0 (false) is returned.
2. If SXAC instruction is not executed before XAC instruction, error message

E6509 No work detected is displayed if no workpiece is found when executing XAC
instruction. The robot stops when error occurs.
.
3. SXAC instruction is effective only on one XAC instruction following it, and its effect is
canceled after XAC instruction is executed. Execute SXAC instruction again before the
next XAC instruction.
Example 1
JMOVE #a1
SXAC Cancels workpiece not found error in XAC instruction.
XAC #a2, b1
r=RXAC When workpiece is found true (-1), and when no workpiece is
found false (0) is substituted to r.
JMOVE #a3
SXAC Since the last SXAC instruction is now ineffective, SXAC is
executed again.
XAC #a4, b2
r=RXAC When workpiece is found true (-1), and when no workpiece is
found false (0) is substituted to r.
3-6
Example 2 Edge detection

As seen in the example below, the edge of the workpiece (or other such differences in level) can
be detected by enabling touch sensing as robot shifts in one direction. This kind of detection,
where the robot detects the point where there is a difference in level, is called edge detection.
Only point a0 is taught.
ddx
z
a0
ddz
y X x
Work
LMOVE a0
FOR i=1 TO 10 Checks 10 times.
POINT a1=SHIFT(a0 BY (i-1) * ddx, 0, -ddz) ddx: Shift amount in X direction
POINT a2=SHIFT(a0 BY (i-1) * ddx, 0, 0) ddz: Motion distance towards the
workpiece along Z axis.
POINT a3=SHIFT(a0 BY i * ddx, 0, 0)
SXAC
XAC a1, b, 0, 15
IF RXAC THEN
TYPE “Workpiece detected”
ELSE
TYPE “No workpiece detected”
GOTO 100
END
LMOVE a2
LMOVE a3
END
TYPE “Workpiece detected all 10 times”
HALT
100 TYPE “Dip detected”

:
3-7
Real Value Function

RXAC
Function
Returns the result of touch sensing via XAC instruction.
Explanation
Returns −1 (true) when workpiece is detected. If not detected, returns 0 (false). See also
SXAC instruction.
Example
SXAC
LMOVE a1
XAC a2, b
LMOVE a1
IF RXAC
TYPE “Workpiece detected”
ELSE
TYPE “No workpiece detected”
END
3-8
D Series Controller 4.0 Special Pattern Weaving (Option)
4.0 SPECIAL PATTERN WEAVING (OPTION)
This chapter explains AS language used in special pattern weaving function (Option).
Monitor Command/ Program Instruction

WVLIST Displays weaving pattern
WVPTNSET Sets weaving pattern
EXAMPLE
Keyword Parameter
WVLIST pattern number
Example
WVLIST 1: 1
4-1
Monitor Command
WVLIST pattern number
Function
Displays the pattern information set for special pattern weaving.
Parameter
Pattern number
Specifies the pattern number to display. Settable range: 1 to 10
Explanation
Displays the same contents as in [Auxiliary function 1404 Arc Weld Setting - 11 Special Pattern
Weaving]. Use this command for checking the data set by WVPTNSET command/ instruction.
Example
>WVLIST 2 ↵
NO. time X Y Z Angle Cur. Vlt.
(%) (%) (%) (%) (deg) (%) (%)
[1] 20: ( 0.0, 50.0, 0.0) 0.0 ( 0, 0)
[2] 30: ( 0.0, 50.0, 0.0) 0.0 ( 0, 0)
[3] 50: ( 0.0, 0.0, 0.0) 0.0 ( 0, 0)
[4] 70: ( 0.0, -50.0, 0.0) 0.0 ( 0, 0)
[5] 80: ( 0.0, -50.0, 0.0) 0.0 ( 0, 0)
[6] 0: ( 0.0, 0.0, 0.0) 0.0 ( 0, 0)
[7] 0: ( 0.0, 0.0, 0.0) 0.0 ( 0, 0)
[8] 0: ( 0.0, 0.0, 0.0) 0.0 ( 0, 0)
[9] 0: ( 0.0, 0.0, 0.0) 0.0 ( 0, 0)
[10] 0: ( 0.0, 0.0, 0.0) 0.0 ( 0, 0)
[11] 0: ( 0.0, 0.0, 0.0) 0.0 ( 0, 0)
[12] 0: ( 0.0, 0.0, 0.0) 0.0 ( 0, 0)
[13] 0: ( 0.0, 0.0, 0.0) 0.0 ( 0, 0)
[14] 0: ( 0.0, 0.0, 0.0) 0.0 ( 0, 0)
[15] 0: ( 0.0, 0.0, 0.0) 0.0 ( 0, 0)
>
4-2
Monitor Command
Program Instruction
WVPTNSET pattern number，line number = time，X，Y，Z，angle，current, voltage
Function
Sets and records weaving pattern for special pattern weaving.
Parameter
Pattern number
Specifies the number of pattern to set. Settable range: 1 to 10.
Line number
Specifies the line number of the line to set. Settable range: 1 to 15.
Time
Specifies the time. Unit is %. Settable range: 1 to 100.
When omitted, the currently set value is used.
X, Y, Z
Specifies the shift amount in: X: horizontal direction (along weld line), Y: lateral direction, Z:
vertical direction. (See diagram on the next page.)
Unit is %. Settable range: -100 to 100.
When omitted, the currently set values are used.
Angle
Specifies the angle of rotation of the torch for pendulum weaving.
Unit is deg. Settable range: -10.0 to 10.0）
Current, Voltage
Specifies the amount of increase of current or voltage for boost.
Unit is %. Settable range: -100 to 100.
Explanation
Sets via AS language the same parameters as in [Auxiliary function 1404 Arc Weld Setting - 11
Special Pattern Weaving]. Use WVLIST command to display and check the settings.
4-3
X: Horizontal direction of torch (forward ↔ backward)

Y: Lateral direction of torch (right ↔ left)
Z: Vertical direction of torch (up ↔ down)
Torch
Up +
Left
(right) + Traveling direction
Right Down −
To and from (left) − Back −
Forward +
vertical plate
Pendulum weaving
Angle of rotation:
−
+
Settable range for angle is ±10°, but there
Vertical plate
may be case where the robot is not able to

realize this setting due to its posture or
frequency.
⊗
Welding direction
Example
>WVPTNSET 2,1 = 20,0,50,0,0,0,0 Sets the first line (line 1) of pattern 2.
>WVPTNSET 3,4 = ,,67 Sets line 4 of pattern 3.

Shift amount in Y direction is set to 67(%).
The other values are not changed.
4-4
D Series Controller 5.0 RTPM (Option)
5.0 RTPM (OPTION)
This chapter explains AS language used in RTPM function (Option).

RTMON Displays RTPM settings
RTGAIN Sets gain for RTPM function
RTBIAS Sets bias for RTPM function
RTCYCLOG Sets logging cycle for RTPM logging function
RTLOGAREA Sets logging area for RTPM logging function
RTDLYTIME Sets RTPM integral interval
System Switch
RTPM Turns ON/OFF RTPM function
RTLOG Turns ON/OFF RTPM logging function
RTCMDI Changes execution timing of RTGAIN and RTBIAS
RTCONT Turns ON/OFF RTPM continue function
Function
RTGETNUM Returns number of taught points recorded in RTPM function
RTHERE Returns shift amount recorded in RTPM function
EXAMPLE
Keyword Parameter
RTMON display mode
Example RTMON 1: 1
5-1
Monitor Command
RTMON display mode
Function
Displays RTPM function settings.
Parameter
Specifies display mode. Use one of the following four modes. Settable range: 1 – 4.
1 - Displays the reference (command) value, actual value, current at the wall (vertical plate), and
current at floor (horizontal plate).
Displayed items
Cur.Ref.(A) Cur.Act.(A) Cur.Wall(A) Cur.Floor(A)
2 - Displays the offset value from the currently set current.

Displayed items
Current(A) Tool Delta(mm) Total Modif.(mm)
Ref.-Act. Fl.-Wal. Tool-Z Tool-Y Base-X Base-Y Base-Z
(Up =+) (Floor=+)
3 - From the log data, displays the same content as RTMON 1.

Displayed items
Cur.Ref.(A) Cur.Act.(A) Cur.Wall(A) Cur.Floor(A)
4 - From the log data, displays the same content as RTMON 2.

Displayed items
Current(A) Tool Delta(mm) Total Modif.(mm)
Ref.-Act. Fl.-Wal. Tool-Z Tool-Y Base-X Base-Y Base-Z
(Up =+) (Floor=+)
5-2
[ NOTE ]
Execute the commands below before displaying data using RTMON 3 and
RTMON 4:
RTLOG ON ← Starts logging
RTCYCLOG 3 ← Sets logging cycle
Enter 1 to log every weaving motion
Enter 3 to log every 3 weaving motions
Maximum number of data that can be logged is 256. See RTLOGAREA
instruction for setting logging area.
5-3
Monitor Command
Program Instruction
RTGAIN vertical current，horizontal current
Function
Sets the gain value for RTPM function. This is used to fine-adjust the seam tracking, disable
tracking function in tack welding, etc.
Parameter
Vertical current
Sets the gain for tracking in vertical direction of the torch. Unit is 0.01mm/A. When omitted,
the currently set values remain unchanged.
Horizontal current
Sets the gain for tracking in sideways direction of the torch. Unit is 0.01mm/A. When omitted,
Explanation
This command/ instruction overwrites the contents set in [Auxiliary function 1404 Arc weld
setting 12 RTPM - 1 Tracking gain/ bias]. The data set here remains in effect until changed.
Use RTCMDI switch to set whether this command/ instruction is enabled for each step or
immediately after it is executed. (See RTCMDI switch.)
When used as monitor command, all the parameters can be omitted to display the currently set
values.
5-4
Monitor Command
Program Instruction
RTBIAS vertical current, horizontal current
Function
Sets the bias values for RTPM function. This is used to adjust wire extension or to lay the bead
to the left or to the right.
Parameter
Vertical current
Adjusts the vertical direction of the torch, that is the wire extension. Unit is A. When omitted,
Positive value (+) entered Negative value (−) entered
Lifts the torch Lowers the

torch
Horizontal current
Adjusts torch position by moving it sideways. This is used to move the bead towards either the
vertical plate or the horizontal plate. Unit is A. When omitted, the currently set values remain
unchanged.
Shifted towards
horizontal plate
Shifted towards
vertical plate
Explanation
This command/instruction changes the contents set in [Auxiliary function 1404 Arc Weld
Setting - 12 RTPM - 1 Tracking Gain/ Bias]. The data set here remains in effect until changed.
Use RTCMDI switch to set whether this command/ instruction is enabled for each step or
immediately after it is executed. (See RTCMDI switch.)
When used as monitor command, all the parameters can be omitted to display the currently set
values.
5-5
Monitor Command
Program Instruction
RTCYCLOG logging cycle
Function
Specifies the logging cycle in RTPM logging function.
Parameter
Logging cycle
Specifies the logging cycle (In whole number greater than 1). To log every weaving motion,
specify RTCYCLOG 1. To log every two weaving motions, specify RTCYCLOG 2.
When used as monitor command, the parameter can be omitted to display the currently set values.
When used as program instruction, the parameter cannot be omitted.
Explanation
When RTLOG switch is ON, the logging function of RTPM is executed after the specified
number of weaving motions. The log data can be displayed using RTMON 3 and RTMON 4
commands.
Maximum number of data readings that can be logged is 256.
To set the area from which data loggings are taken, see RTLOGAREA instruction.
Example
RTCYCLOG 5 Logs RTPM data after every 5 weaving motion.
5-6
Monitor command
Program Instruction
RTLOGAREA number
Function
Specifies the area from which data loggings are taken by the RTPM logging function.
Parameter
Number
0: Ends logging after logging 256 data readings.
(The first 256 readings are logged.)
1: Next 256 data readings are overwritten to the first 256 data.
(The latest 256 readings are logged.)
Explanation
In RTPM logging function, only 256 data readings can be logged. When logging data for a long
weld line with over 256 data, the first (RTLOGAREA 0) and the last (RTLOGAREA 1) 256 data
can be logged using this command/instruction.
Default value is 0.
Example
RTLOGAREA 0
256 data
Weld start point Weld continue point Weld end point
RTLOGAREA 1
256 data
Weld start point Weld continue point Weld end point
5-7
Monitor command
Program Instruction
RTDLYTIME delay time for integral interval
Function
Specifies the delay time for integral interval of RTPM function.
Parameter
Delay time for integral interval
Sets the delay time for integral interval. Settable range: 0 to 999. Unit is ms.
Explanation
Left Weaving waveform

Lateral direction
Left Right
Weld line position
Torch Time
Right
(1), (2), (3), (4): Integral interval
Current
(1) (2) (3) (4)

Actual weld current
Time
Center of weaving
Current
(3)
Weld line
(Interval integral value) (1) (2) {(3)-(4)} > {(1)-(2)} !!
(4)
Time
If the center line of the torch tip deviates to the right of the weld line shown above, the lateral
motion RTPM compensation function compares and finds the difference between current integral
values over (1) and (2) intervals or (3) and (4) intervals, and then robot moves the torch tip to the
left so that the difference in current integral values lessens, thereby realizing weld wire course
correction. Because current is integrated over one-quarter intervals of each weaving cycle, the
integral current values over the interval will vary depending on the point in the cycle where the
integration begins. Also, actual weld current will vary depending on the weld machine used.
Thus, for the parameter, Delay time for integral interval shift, set the value that produces the most
efficient RTPM tracking, for example (3) and (4) in the figure above.
Note that the Delay time for integral interval changes in unit of 16ms.
5-8
System Switch
... RTPM ...
Function
Determines whether RTPM tracking function is enabled or disabled.
Explanation
When this switch is ON, RTPM tracking function is enabled. When this is OFF, RTPM tracking
function is disabled.
Default setting is OFF.
Example
W1SET 1=33, 250, 27, 3.0, 2.0
W2SET 1=1.3, 170, 22.5
LMOVE a1
RTPM ON ← Enables RTPM function.
LWS p1
LWC p2, 1 Tracking by RTPM function is carried out.
LWE p3, 1, 1
LMOVE a2
RTPM OFF ← Disables RTPM function.
LWS q1
LWC q2, 1 Tracking is not done.
LWE q3, 1, 1
LMOVE a3
[ NOTE ]
RTPM tracking function does not work without weaving setting.
Unless weaving is set, tracking function will not work even if RTPM
switch is turned ON.
5-9
System Switch
... RTLOG ...
Function
Determines whether RTPM logging function is enabled or disabled.
Explanation
When this switch is ON, RTPM logging function is enabled. When this is OFF, RTPM logging
function is disabled.
Data readings are logged at the specified number of logging cycles, starting from when RTPM
tracking function starts after turning RTLOG switch ON. The log data can be displayed using
RTMON 3 and RTMON 4.
Set number of logging cycle via RTCYCLOG command/ instruction.
Set logging area via RTLOGAREA command/ instruction.
5-10
System Switch
... RTCMDI ...
Function
Determines whether RTGAIN and RTBIAS command/ instructions are made effective for each
step or immediately after they are executed.
Explanation
If this switch is OFF, RTGAIN and RTBIAS command/ instruction are made effective for each
step. When this switch is ON, RTGAIN and RTBIAS command/ instruction is enabled
immediately after the command/ instruction is executed.
Default value for this switch is ON.
Example1
RTCMDI OFF ← Enables RTGAIN, RTBIAS for each step.
W1SET 1=33, 250, 27, 3.0, 2.0
W2SET 1=1.3, 170, 22.5
LMOVE a1
RTPM ON
LWS p1
RTBIAS 10, 10 RTBIAS 10, 10 is effective until the next destination point
LWC p2 p2.
RTBIAS 0, 0 RTBIAS 0, 0 is effective until the next destination p3.
LWE p3, 1, 1
LMOVE a2
Example2
RTCMDI ON
When this switch is turned ON, RTBIAS command is put into effect immediately after it is
executed, therefore it is useful to execute RTBIAS command to shift the torch and to observe
the condition of the tracking.
5-11
System Switch
... RTCONT ...
Function
Determines whether RTPM continue function is enabled or disabled.
Explanation
When this switch is ON, RTPM continue function is enabled. When this switch is OFF, RTPM
continue function is disabled.
Example1
When RTPM continue function is used
a2
a3
a1
q1
p2 q2
p1
RTPM ON
RTCONT ON ← RTPM continue function enabled.
W1SET 1=33, 250, 27, 3.0, 2.0
W2SET 1=1.3, 170, 22.5
LMOVE a1
LWS p1
LWE p2, 1, 1
LMOVE a2
LWS q1 Welds the seam (q1-q2) while tracking.
LWE q2, 1, 1 (Checks for deviation at point p2, and adjusts weld position
accordingly before welding the next seam.)
LMOVE a3
5-12
Example2
When not using RTPM continue function
a2
a3
a1
p2
p1
q1 q2
RTPM ON
RTCONT OFF ← RTPM continue function disabled.
W1SET 1=33, 250, 27, 3.0, 2.0
W2SET 1=1.3, 170, 22.5
LMOVE a1
LWS p1
LWE p2, 1, 1
LMOVE a2
LWS q1 Welds seam (q1-q2) without adjusting the weld position.
LWE q2, 1, 1
LMOVE a3
！ CAUTION
For more precise adjustment using the tracking data from the last
seam, use RTGETNUM and RTHERE functions.
5-13
Real Value Function

RTGETNUM
Function
Returns the number of data readings recorded in RTPM tracking function.
Explanation
This function is used with RTHERE function to acquire the deviation amount.
Example
See RTHERE function.
5-14
Transformation Value Function

RTHERE (point number)
Function
Returns the deviation amount recorded in RTPM tracking function in transformation values based
on base coordinate system.
Parameter
Point number
Specifies as follow:
Weld start point 1
First weld continue point 2
Second weld continue point 3 etc.
Explanation
This function is used with RTGETNUM function to acquire the deviation amount in
transformation values. Deviation amount is used in such cases as when welding the second or
third pass in multi-layer welding.
When used at the weld start point, returns the offset value for start point sensing. When start
point sensing is not done, 0 is returned.
Example a0 a1 (1st point)

JMOVE a0 A:dlt[1]
RTPM ON Path in Taught path
JWS a1 ... A repeat mode a2 (2nd point)
LWC a2, 1 ... B
B:dlt[2]
LWC a3, 1 ... C
LWE a4, 1, 1 ... D a3 (3rd point)
RTPM OFF
C:dlt[3]
JMOVE a5
a5 a4 (4th point)
FOR cnt=1 TO RTGETNUM
POINT dlt[cnt]=RTHERE(cnt) D:dlt[4]
END
In this example, RTGETNUM function returns 4. In dlt[1] - dlt[4], the following values are
substituted:
5-15
dlt[1]: Deviation amount A at the first weld point (weld start point ) (Here it is 0.)
dlt[2]: Deviation amount B at the second weld point
dlt[3]: Deviation amount C at the third weld point
dlt[4]: Deviation amount D at the fourth weld point
5-16
D Series Controller 6.0 Start Point Sensing (Option)
6.0 START POINT SENSING (OPTION)
This chapter explains AS language used in start point sensing function (Option).

SSENSPTN Sets pattern number for start point sensing
System Switch
SSENSING Turns ON/OFF start point sensing
EXAMPLE
Keyword Parameter
SSENSPTN pattern number
Example
SSENSPTN 1: 101
6-1
Monitor Command
Program Instruction
SSENSPTN pattern number
Function
Specifies the sensing pattern for start point sensing function.
Parameter
Pattern number
Specifies the pattern number to set. Settable range: 1 to 5, 101 to 106.
1 to 5: special groove shape (definable)
101 to 106: standard groove shapes shown below:
101 horizontal fillet weld

102 flat fillet weld
103 butt weld V60°
104 flat single bevel 45°
105 butt weld single bevel 45°
106 horizontal single bevel 45°
Explanation
When 1 - 5 is specified as parameter, start point sensing is done by sensing pattern set in
[Auxiliary Function 1404 Arc Weld Setting 15 Start Point Sensing]. Set the sensing patterns
using the auxiliary function screen before using this command/ instruction.
To use the prepared standard patterns, specify 101 – 106. The default setting is 101.
When used as a monitor command, omit the parameter to display the current setting.
Example
SSENSPTN 106 Specifies horizontal single bevel groove with groove angle
of 45° as the sensing pattern for start point sensing.
6-2
System Switch
．．．SSENSING．．．
Function
Determines whether start point sensing function is enabled or disabled.
Explanation
When this switch is ON, start point sensing is enabled. When this switch is OFF, start point
sensing function is deactivated and does not work. Default setting for this switch is OFF.
Example
W1SET 1=33,250,27,3.0,2.0
W2SET 1=1.3,170,22.5
SSENSPTN 102 ← Sets flat fillet weld as start point sensing pattern
SSENSING ON ← Enables start point sensing function
LMOVE a1
LWS p1 ← Executes start point sensing before starting to weld.
LWC p2,1
LWE p3,1,1
LMOVE a2
6-3
Memo
6-4
D Series Controller 7. Weld Condition Database (Option)
7.0 WELD CONDITION DATABASE (OPTION)
This chapter explains AS language used for setting and using weld condition database (Option).

DBUSE Declares the database to use
SETPASS Declares the pass to use
GET1WCON Retrieves weld data from database
GET2WCON Retrieves crater (arc spot) weld data from database
GETWPOS Retrieves torch position data from database
GETWAUX Retrieves start point sensing pattern and RTPM bias
DBCLEAR Clears database memory
DBNAME Names groove and weld size in database
DBCREATE Creates database memory area for new data
DBWRITE Writes data onto database
INSPASS Inserts data into database
DELPASS Deletes data from database
Function
GETPASS Returns total number of passes in database
DBFREE Returns database memory size information
EXAMPLE
Keyword Parameter
DBUSE big category, small category
Example GET1WCON 1: 2=
7-1
Monitor Command
Program Instruction
DBUSE big category, small category
Function
Declares the database to use. Set the database using auxiliary function screen ([Auxiliary
Function 1403 Arc Weld Condition Database]) or using DBWRITE command/ instruction before
using DBUSE.
Parameter
Big category
Specifies the groove number. Settable range: 1 to 12.
<Example of database>
1 Horizontal fillet weld 7 Special 1
2 Flat fillet weld 8 Special 2
3 Lap fillet 9 Special 3
4 Corner fillet 10 Special 4
5 Butt I 11 Special 5
6 Downhill 12 Special 6
Small category
Specifies the size of weld. Settable range: 1 to 12.
<Example of database>
1 3 mm 7 No.1
2 4 mm 8 No.2
3 5 mm 9 No.3
4 6 mm 10 No.4
5 7 mm 11 No.5
6 8 mm 12 No.6
Using the above example, database for horizontal fillet weld with weld size of 5 mm is specified
as following:
DBUSE 1, 3
7-2
Explanation
The following commands/ instructions/ functions become effective for the database declared by
DBUSE.
GETPASS function GET1WCON command/ instruction
SETPASS command/ instruction GET2WCON command/ instruction
INSPASS command/ instruction GETWPOS command/ instruction
DELPASS command/ instruction GETWAUX command/ instruction
Example
lap=3
thickness=4
DBUSE lap, thickness
7-3
Monitor Command
Program Instruction
SETPASS pass number
Function
Declares the pass number to use in the database specified by DBUSE command/ instruction.
Parameter
Pass number
Specifies the number of the pass to use.
Explanation
The following commands/ instructions can be used for the specified pass number set to the
database specified by DBUSE command/ instruction.
GET1WCON command/ instruction
GET2WCON command/ instruction
GETWPOS command/ instruction
GETWAUX command/ instruction
Error P6502 No database exists. occurs if DBUSE command/ instruction is not executed before
SETPASS command/ instruction, or the pass number specified is greater than the number of
existing passes.
EXAMPLE
lap=3
thickness=4
DBUSE lap,thickness
SETPASS 1
7-4
Monitor Command
Program Instruction
GET1WCON weld condition number = speed, current, voltage, weaving width,
weaving frequency, weaving pattern, pole ratio
Function
Acquires the weld conditions from the database specified via DBUSE command/ instruction and
SETPASS command/ instruction. The conditions are acquired in order of speed, current, voltage,
weaving width, weaving frequency, weaving pattern number, and pole ratio.
Parameter
Specifies the weld condition number in which to store the acquired conditions. Settable
range: 1 to 20.
Speed
Specifies variable that stores the acquired speed. Unit is cm/min.
Current
Specifies variable that stores the acquired welding current. Unit is: A.
Voltage
Specifies variable that stores the acquired welding voltage. Unit is V.
Weaving width
Specifies variable that stores the acquired weaving width. Unit is mm.
Weaving frequency
Specifies variable that stores the acquired weaving frequency. Unit is Hz.
Weaving pattern (Option)

Specifies variable that stores the acquired weaving pattern number.
Pole ratio (Option)

Specifies variable that stores the acquired pole ratio number.
Explanation
Specify at least one parameter.
7-5
Before GET1WCON command/ instruction, specify the database and pass via DBUSE and
SETPASS command/ instruction. Error P6502 No weld database. occurs if the database is not
specified or the pass number specified is greater than the existing number of passes.
Example
DBUSE hfillet,3
SETPASS 2
GET1WCON wsp, amp, vlt, wv, fq, pn Substitutes the weld conditions acquired
(1)
W1SET 2 = wsp, amp, vlt, wv, fq, pn from the database to weld condition No. 2.
(1) above can also be expressed as:

(2) GET1WCON 2=wsp, amp, vlt, wv, fq, pn
or
(3) GET1WCON 2=
The difference between (2) and (3) is that in (2) the weld conditions are substituted into the
variables (wsp, amp, ....) while in (3) they are not.
7-6
Monitor Command
Program Instruction
GET2WCON crater (arc spot) weld condition = time, current, voltage, pole ratio
Function
Acquires the crater condition (arc spot weld condition) from the pass of the database specified via
DBUSE command/ instruction and SETPASS command/ instruction. The conditions are
acquired in order of time, current, voltage, and pole ratio.
Parameter
Crater condition number (Arc spot weld condition number)
Specifies the crater (or arc spot weld) condition number. Settable range: 1 to 20.
Time
Specifies variable that stores the acquired crater weld time (arc spot weld time). Unit is sec.
Current
Specifies variable that stores the acquired weld current. Unit is A.
Voltage
Specifies variable that stores the acquired weld voltage. Unit is V.
Pole ration (Option)

Specifies variable that stores the acquired pole ratio number.
Explanation
Before this command/ instruction, specify the database and pass via DBUSE and SETPASS
command/ instruction. Error P6502 No weld database. occurs if the database is not specified or
the pass number specified is greater than the existing number of passes.
7-7
Example
DBUSE hfillet,3
SETPASS 2
GET2WCON crtt,crtamp,crtvlt Substitutes the acquired crater weld condition to crater.
(1)
W2SET 3=crtt,crtamp,crtvlt condition number 3.
(1) above can also be expressed as:
(2) GET2WCON 3=crtt,crtamp,crtvlt

or
(3) GET2WCON 3=
The difference between (2) and (3) is that in (2) the weld conditions are substituted into the
variables (crtt, crtamp, crtvlt) while in (3) they are not.
7-8
Monitor Command
Program Instruction
GETWPOS ΔY, ΔZ, Δθ, γ
Function
Acquires the position data of the torch from the database specified via DBUSE and SETPASS
command/ instruction.
Parameter
ΔY
Specifies variable that stores the acquired deviation amount of the torch in Y direction from the
first layer. Unit is mm.
ΔZ
Specifies variable that stores the acquired deviation amount of the torch in Z direction from the
first layer. Unit is mm.
Δθ
Specifies variable that stores the acquired deviation amount in degree of angle of the torch from
the first layer. Unit is deg.
γ
Specifies variable that stores the acquired degree of angle of lead of the torch (absolute value).
Unit is deg.
Explanation
Example
DBUSE 1,2 Substitutes to variables (delty, deltz, deltth,
SETPASS 3 gamma) the torch position data of pass 3 of
GETWPOS delty, deltz, deltth, gamma database under big category 1, small category 2.
7-9
Monitor Command
Program Instruction
GETWAUX pattern number, RTPM vertical bias, RTPM lateral bias
Function
Acquires the start point sensing pattern number from the database specified via DBUSE and
SETPASS command/ instruction.
Parameter
Pattern number
Specifies variable that stores the acquired pattern number for start point sensing function.
RTPM vertical bias

Specifies variable that stores the acquired bias values (vertical bias) for RTPM function.
RTPM lateral bias

Specifies variable that stores the acquired bias values (lateral bias) for RTPM function.
Explanation
Example
From pass 3 of database under big category 1,
DBUSE 1,2
small category 2, substitutes the sensing pattern
SETPASS 3
number to variable (ssensptn), vertical bias to
GETWAUX ssensptn, rtbias1, rtbias2
variable (bias1), and lateral bias to (rbias2).
7-10
Monitor Command
DBCLEAR
Function
Clears all weld condition databases.
！ CAUTION
This command deletes all information recorded in the weld

condition databases.
7-11
Monitor Command
Program Instruction
DBNAME big category, “groove name”, “weld size name 1”, “weld size name 2”,
…, “weld size name 12”
Function
Names the groove type and weld size data recorded in weld condition database.
Parameter
Big category
Specifies the big category number (groove number) to name. Settable range: 1 to 12. See
DBUSE command/ instruction.
“Groove name”
Specifies a name for the groove which is to be displayed on the teach pendant (up to 8
characters). When omitted, the currently set name remains unchanged. Names “No.1” to
“No.12” are given to the grooves as default.
“Weld size 1” – “Weld size 12”

Specifies a name of the weld size which is to be displayed on the teach pendant (up to 8
characters). When omitted, the currently set name remains unchanged. Names “No.1” to
“No.12” are given to the weld sizes as default.
Explanation
This command/ instruction assigns name to components of a weld database which is to be
displayed in [Auxiliary function 1403 Arc Weld Condition Database].
When used as monitor command, all the parameters can be omitted to display the names
currently set.
Example
>DBNAME 1, “H Fillet”,“ Weld size 3mm”,“Weld size 4mm”
Assigns name to database in big category 1. The name of the big category (groove number) is
defined as “H Fillet”, small category 1 (weld size) is named “Weld size 3mm”, and small
category 2, “Weld size 4mm”. Small categories 3 and after are named “No.3”, “No.4”,...
“No.12”.
7-12
Monitor Command
Program Instruction
DBCREATE big category, small category, pass number
Function
Creates memory area for new weld condition database.
Parameter
Big category
Specifies the big category number (groove number) for the new database. Settable range: 1 to
12. See DBUSE command/ instruction.
Small category
Specifies the small category number (weld size number) for the new database. Settable range:
1 to 12. See DBUSE command/ instruction.
Pass number
Specifies the number of the pass. When omitted, 1 is assumed.
Explanation
Use this command/ instruction to reserve memory area for saving the database created by
DBWRITE.
The pass number specified cannot exceed currently existing number of passes + 1.
Example
>DBCREATE 1,3,4 ↵
Reserves memory area for the database specified as big category 1, small category 3, and pass
number 4.
7-13
Monitor Command
Program Instruction
DBWRITE weld speed, weld current, weld voltage, weaving width,
weaving frequency, weaving pattern, crater time, crater current, crater voltage,
ΔY, ΔZ, Δθ, γ, layer number, start point sensing pattern, pole ratio, pole ratio 2,
RTPM vertical bias, RTPM lateral bias
Function
Writes the contents of weld condition database onto the memory area reserved via DBCREATE
and INSPASS command/ instruction.
Parameter
Parameter Explanation Settable range
Weld speed Weld speed. Unit: cm/min. 1 − 999
Weld current Weld current. Unit: A. 0 − 999
Weld voltage Weld voltage. Unit: V. 0 − 99.9
Weaving width Weaving width. Unit: mm. 0 − 40.0
Weaving frequency Weaving frequency. Unit: Hz. 0 − 4.0
Weaving pattern (Option) Weaving pattern number. 0 − 10
Crater time Crater (Arc spot) weld time. Unit: sec. 0 − 9.9
Crater current Crater (Arc spot) weld current. Unit: 0 − 999
A.
Crater voltage Crater (Arc spot) voltage. Unit: V. 0 − 99.9
ΔY Deviation in Y direction. Unit: mm. -500 − 500
ΔZ Deviation in Z direction. Unit: mm. -500 − 500
Δθ Degree of angle of deviation. Unit: -180 − 180
deg.
λ Angle of lead. Unit: deg. -180 − 180
Layer number Layer number in multi- layer welding. 1 − 99
Start point sensing pattern (Option) Start point sensing pattern. 1 – 5 Special groove
101 – 106 Regular groove
Pole ratio (Option) Pole ratio 0 − 15
Pole ratio 2 (Option) Pole ratio 2 0 − 15
RTPM bias vertical Bias in vertical direction in RTPM -100.0 − 100.0
function. Unit: A.
RTPM bias lateral Bias in lateral direction in RTPM -100.0 − 100.0
function. Unit: A.
Explanation
When parameter is omitted, the currently set values remain unchanged. Option parameters must
have settings if that option is not installed. Therefore, do not leave any parameter unset with no
value.
7-14
Example
DBCREATE 1,2,1
DBWRITE 33,250,27.0,3,2,0,1.3,170,22.5,1.5,0,0,0,1,101,0,0,0,0
DBCREATE 1,2,2
DBWRITE 68,290,32.0,0,0,0,1.3,190,23.5,6,0,0,0,2,101,0,0,0,0
DBCREATE 1,2,3
DBWRITE 66,290,32.0,0,0,0,1.3,190,23.5,1.5,6,0,0,2,101,0,0,0,0
Creates passes 1 – 3 in weld condition database big category 1, small category 2.
7-15
Monitor Command
Program Instruction
INSPASS pass number
Function
Reserves memory area to insert a new pass to a weld condition database.
Parameter
Pass number
Specifies the pass number to insert. Settable range: 1 – existing pass number.
Explanation
Before using INPASS, specify the database to use via DBUSE command/ instruction. After
specifying the database number, reserve the memory area for the pass and insert the pass data
specifications using DBWRITE command/ instruction.
Example
DBUSE 1,2
INSPASS 5
DBWRITE 66,290,32.0,0,0,0,1.3,190,23.5,1.5,6,0,0,3,101,0,0,0,0
A new pass is inserted as the fifth pass in database big category 1, small category 2. The former
pass 5 and those thereafter becomes pass 6, pass 7, and so on.
7-16
Monitor Command
Program Instruction
DELPASS pass number
Function
Deletes the specified pass from the weld condition database.
Parameter
Pass number
Specifies the pass number to delete. Settable range 1 to existing number of passes.
Explanation
Before using this command/ instruction, specify the database via DBUSE command/
instruction.
Example
DBUSE 1,2
DELPASS 5
Deletes pass 5 in database big category 1, small category 2.
7-17
Real Number Function

GETPASS
Function
Returns the total number of passes in the database specified via DBUSE command/ instruction.
Explanation
Before using this command/ instruction, specify the database via DBUSE command/ instruction.
Example
DBUSE 1,2
totpass=GETPASS
Substitutes to variable “totpass”, the total number of passes in database big category 1, small
category 2.
7-18
Real Number Function

DBFREE (number)
Function
Returns information on memory area in use or available for the weld condition database.
Parameter
Number
0: Total area (number of passes) available for weld condition database.
1: Area (number of passes) used by the weld condition database.
2: Area (number of passes) remaining for use by the weld condition database.
Example
totpass = DBFREE(0)
upass = DBFREE(1)
nupass = DBFREE(2)
TYPE upass/totpass*100,”% in use ”, nupass/totpass*100,”% FREE”
Shows in %, the ratio of reserved memory used by the database and the area which remains to be
used by the database.
7-19
Memo
7-20
D Series Controller 8.0 External Axis Control
8.0 EXTERNAL AXIS CONTROL

POINT/7 Defines external axis (7)
POINT/EXT Defines external axis (all external axes)
Function
DEXT Returns the specified component from pose data
TRADD Adds components of traverse axis to robot axis components
(changes to cooperative coordinate system based values)
TRSUB Subtracts components of traverse axis from robot axis
components (changes to robot coordinate system based
values)
EXAMPLE
Keyword Parameter
POINT/7 transformation variable name = transformation values
8-1
Monitor Command
Program Instruction
POINT/EXT transformation variable name = transformation values
Function
Assigns the components of the transformation values specified on the right of “=” to the
corresponding components of the transformation variable name on the left of “=”. When used
as monitor command, the values are displayed on the terminal for editing.
Parameter
Transformation variable name
Specifies the transformation variable name to be defined (transformation values or compound
transformation values). When specified in compound transformation values, this command/
instruction substitutes the values in the rightmost variable of the compound value. Error occurs
if variable other than the rightmost variable is undefined.
Transformation values
Specifies the value to substitute to the variable on the right of equation (transformation values,
joint displacement values). When this parameter is omitted in monitor command, the currently
set values are displayed for modification. When used as program instruction, this parameter
cannot be omitted.
Explanation
Defines the external axes component(s) (Axes 7, 8, 9, 10, 11, 12) of the specified
transformation variable name to equal the value(s) on the right of the equation.
Only existing robot axis numbers can be entered. For example, when using a 10 – axis robot,
/11 and /12 cannot be used.
/EXT specifies all existing external axes. For example, in a 10- axes robot, POINT/EXT
means the same as POINT/7/8/9/10.
8-2
Example 1
When
X Y Z O A T 7 8
a1= 100 200 300 10 15 30 500 600
a2= Undefined
then,
POINT/8 a2=a1
X Y Z O A T 7 8
a2= 0 0 0 0 0 0 0 600
Example 2
When
X Y Z O A T 7 8
a1= 100 200 300 10 15 30 500 600
a2= Undefined
then,
POINT/EXT a2=a1
X Y Z O A T 7 8
a2= 0 0 0 0 0 0 500 600
8-3
Real Value Function

DEXT (pose name, element number)
Function
Returns the specified element from the specified pose variable.
Parameter
Pose name
Specifies the pose from which to extract the element (joint displacement values, transformation
values).
Element number
Specifies in real number, the type of element to extract. Element number cannot be greater
than the number of existing axes. For example, 11 and 12 cannot be used with 10-axes robot.
The extracted elements are as follows:
Pose
Element Transformation Joint
number values displacement
values
1 X component JT1 component
2 Y component JT2 component
3 Z component JT3 component
4 O component JT4 component
5 A component JT5 component
6 T component JT6 component
7 JT7 component JT7 component
Example
X Y Z O A T 7 8
a1= 100 200 300 10 15 30 500 600
then,
TYPE DEXT(a1,8)
will display “600”.
8-4

TRADD (transformation values)
Function
Adds the components of the traverse axis to each component of the specified transformation
values. In other words, transforms the pose described as the relation of tool coordinates relative
to base coordinates into the pose of tool coordinates relative to cooperative coordinates.
Parameter
Specifies the transformation values describing the pose of the tool coordinates relative to the
base coordinates.
Explanation
Transformation values acquired by commands such as HERE instruction are based on the robot
coordinates (base coordinates). By using this function, those transformation values can be
converted to transformation values based on cooperative coordinates (world coordinates) which
incorporate the external axes (traverse axes).
Example
In the figure below, the traverse axis JT7 is placed parallel to X axis.
X Y Z O A T 7 8
a1= 100 200 300 10 15 30 500 600
then,
POINT a2=TRADD(a1)
results as follows:
X Y Z O A T 7 8
a2= 600 200 300 10 15 30 500 600
100+500
a2
a1
Y y
X x
X component of
traverse axis
Cooperative coordinates
500 Robot coordinates
(World coordinates)
(Base coordinates)
8-5
！ CAUTION
In traverse axis cooperation, the OAT components of the

transformation values gained by TRADD function remain the same
before and after the transformation, but in positioner cooperation,
rotation axis cooperation, or special rotation axis cooperation, the
OAT components also change greatly.
8-6

TRSUB (transformation values)
Function
Subtracts the traverse axis components from each component of the specified transformation
values. In other words, transforms the pose described as relation of tool coordinates relative to
cooperative coordinates (world coordinates) into the pose of tool coordinates relative to base
coordinates.
Parameter
Specifies the transformation values based on cooperative coordinates.
Explanation
Transforms the transformation values based on cooperative coordinates (world coordinates) to
transformation values based on robot coordinates (base coordinates).
Example In the figure below, traverse axis JT7 is placed parallel to X axis of the base
coordinates.
X Y Z O A T 7 8
a2= 950 200 300 10 15 30 500 600
then,
POINT a1=TRSUB(a2)
results as following:
X Y Z O A T 7 8
a1= 450 200 300 10 15 30 500 600
950-500
a2
a1
Y
y
X x
X component of
Cooperative coordinates traverse axis
500 Robot coordinates
(World coordinates)
(Base coordinates)
8-7
！ CAUTION
In traverse axis cooperation, the OAT components of the

transformation values gained by TRSUB function remain the same
before and after the transformation, but in positioner cooperation,
rotation axis cooperation, or special rotation axis cooperation, the
OAT components also change greatly.
8-8
D Series Controller 9.0 TIG Welding (Option)
9.0 TIG WELDING (OPTION)
This chapter describes the AS languages for TIG welding function (Option).
Monitor Command
W3SET Sets software slowdown condition
DSLOPEGAIN Sets down-slope inclination
USLOPEGAIN Sets up-slope inclination
Program Instruction
DSLOPEGAIN Sets inclination for down-slope
USLOPEGAIN Sets inclination for up-slope
W3SET Sets software slow down condition
System Switch
SSDOWN Enables/ disables software slowdown
9-1
EXAMPLE
Keyword Parameter
Example
DSLOPEGAIN 1: 10
9-2
Monitor Command
Program Instruction
W1SET weld condition number = speed, current, wire feeding speed, weaving
width, weaving frequency, pattern number, pole ratio
Function
Sets weld conditions.
Parameter
Sets weld condition number. Settable range: 1 – 20.
Speed
Sets welding speed. Unit is cm/min. Settable range: 1 – 999 cm/min.
Current
Sets welding current. Unit is A (ampere). Settable range: 0 – 999 A.
Wire feeding speed

Sets wire feeding speed. Unit is cm/min. Settable range: 0 – 999.0 cm/min. Settable range
for Servo torch application (Option) is –999.0 – 999.0 cm/min
Weaving width
Sets weaving width. Unit is mm. Settable range: 0 – 160.0 mm.
Weaving frequency
Sets the frequency for weaving motion. Unit is Hz (hertz). Settable range: 0 – 4.0 Hz.
Pattern number (Option)

Sets the pattern number for special pattern weaving. Settable range: 0 – 10.
Pattern 0 sets single oscillation weaving (standard).
Pole ratio (Option)

Sets the signal to output to the welding controller to specify the positive-negative pole ratio.
Settable range: 0 – 15.
Explanation
All parameters can be specified in forms of real values, real variables, and equations. When
omitted, the value(s) last used in this command/ instruction are set.
9-3
Error occurs if weld condition number is not set within 1-20 or if any weld condition (speed, etc.)
is out of range.
The weld condition number set here and the condition number set in [Auxiliary Function 1401
Arc Weld Condition] are different and not related to each other.
[ NOTE ]
The robot does not weld when the current is set to zero (0). When the system is
initialized, no value is set for speed, current, and voltage, and zero (0) is set for weaving
width, weaving frequency and pattern number. Therefore, always specify all
parameters when using this command/instruction for the first time after initializing.
Parameters with no values set will cause error when LWC or LWE instructions are
executed.
Example 1
>W1SET 1=60,250,28,2,3 ↵ Sets 60 cm/min, 250 A, 28 cm/min, 2 mm, 3 Hz to

weld condition 1.
>W1SET 2=80 ↵ Values set last time W1SET was executed are
adopted for the omitted parameters, therefore,
80 cm/min, 250 A, 28 cm/min, 2 mm, 3 Hz are set to
weld condition 2.
Example 2
W1SET 2=s, cur, vlt, wv, fq, pth
9-4
Monitor Command
Program Instruction
W2SET crater weld condition number = time, current, wire feeding speed, pole
ratio
Function
Sets crater condition or arc spot condition.
Parameter
Crater (arc spot) weld condition number
Sets crater weld or arc spot weld condition number. Settable range: 1 – 20.
Time
Specifies the time to stay stationary (crater treatment time or arc spot welding time). Unit is
seconds. Settable range: 0 – 10.0 seconds.
Current
Sets the welding current. Unit is A. Settable range: 0 – 999 A.
Wire feeding speed

Sets wire feeding speed. Unit is cm/min. Settable range: 0 – 999.0 V. Settable range for
Servo torch application (Option) is –999.0 – 999.0 cm/min
Pole ratio (Option)

range: 0 – 15.
Explanation
Error occurs if weld condition number is not set within 1 - 20, or if any weld condition (speed,
The crater/arc spot weld condition number set here and the condition number set in [Auxiliary
Function 1402 Arc Spot Weld Condition] are different and not related to each other.
9-5
[ NOTE ]
Example Refer to the examples for W1SET.
9-6
Monitor Command
Program Instruction
W3SET preheating time, current, wire feeding speed, weaving width, weaving
frequency, pattern no., pole ratio
Function
Sets in AS language, the software slow down conditions as set in [Aux. Arc Weld Setting – 4
Software Slow Down].
Parameter
Preheating time
Sets preheating time. Unit is seconds. Settable range: 0- 99.9 s.
Current
Sets the welding current. Unit is A. Settable range: 0 – 999 A.
Wire feeding speed

Sets wire feeding speed. Unit is cm/min. Settable range: 0.0 - 999.0 cm/min.
When using servo torch (option), Settable range is -999.0 – 999.0 cm/min
Weaving width
Sets weaving width. Unit is mm. Settable range: 0 to 160.0 mm.
Weaving frequency
Sets weaving frequency. Unit is Hz. Settable range: 0 to 4.0 Hz.
Pattern no. (Option)

Sets pattern number for special pattern weaving. Settable range: 0 to 10. Pattern number 0 is
for simple harmonic weaving (standard).
Pole ratio (Option)

range: 0 – 15.
Explanation
Error occurs if any weld condition (preheating time, etc.) is out of range.
9-7
[ NOTE ]
Example 1
>W3SET 2,250,28,2,3 ↵ Sets software slow down condition to: preheating time
2 s, 250 A, 28 cm/min, 2 mm, 3 Hz.
>W3SET 1.2 ↵ Values set last time W1SET was executed are adopted
for the omitted parameters, therefore, preheating time
1.2 s, 250 A, 28 cm/min, 2 mm, 3 Hz are set to software
slow down condition.
Example 2
>W3SET ptim, cur, wspd, wv, fq, pth
9-8
Monitor Command
WLIST condition type, condition number
Function
Displays a list of weld conditions or crater/ arc spot weld conditions set in W1SET, W2SET or
W3SET command/instruction.
Parameter
Condition type
Specifies 1, 2 or 3. When 1 is specified or omitted, the list of weld conditions set by W1SET is
displayed. When 2 is specified, the list of crater/ arc spot weld conditions set by W2SET is
displayed. When 3 is specified, the software slowdown condition set in W3SET is displayed.
Condition number
Specifies the condition number of the weld condition or arc spot weld condition to display
(Settable range: 1 – 20). When omitted, conditions 1 – 20 are displayed. Condition number is
ignored when condition type 3 is specified.
Explanation
∗∗∗.∗ is displayed for parameters not set.
>WLIST 2
No. Crater time Cur. Vol. PO
(sec) (A) (V)
1 1.0 150.0 18.0 0
2 2.0 100.0 50.0 0
3 3.0 200.0 20.0 0
4 5.0 200.0 19.0 0
5 5.0 250.0 25.0 0
6 10.0 200.0 19.0 0
7 10.0 250.0 25.0 0
8 ***.* ***.* ***.* 0
9 ***.* ***.* ***.* 0
10 ***.* ***.* ***.* 0
…
>
9-9
Monitor Command
Program Instruction
LTBLSET type number, line number = command current (wire feeding speed),
output voltage (wire feeding rotation speed)
Function
Sets in AS language, the Linearization table as set in [Aux. 1404 Arc Weld Setting -
1 Linearization]. When using servo torch (option), the Linearization table as set in
[Auxiliary function 1404 Arc weld setting – 16 Servo torch – 1 Linearization] is also set by this
command/ instruction.
Parameter
Type number
Specifies whether the linearization data to set is command current, wire feeding speed or wire
feeding speed for servo torch (only when servo torch option is enabled). (1: current, 2: wire
feeding speed, 3: servo torch wire feeding speed)
Line number
Specifies the line number in which data will be set. Settable range:1 to 16.
Command current (Wire feeding speed)

Specifies the current or wire feeding speed to set. Settable range for command current: 0 to 999
A, for wire feeding speed: 0 to 99.9 cm/min. When omitted, no changes are made to the current
values.
Output voltage (Wire feeding rotation speed)

Specifies the maximum output voltage or wire feeding rotation speed (only when servo torch
option is enabled) to set. Settable range for output voltage: 0 to 15000 mv, for wire feeding
rotation speed: 0 to 999 rpm. When omitted, no changes are made to the current values.
Explanation
Linearization table is changed in cases such as when a robot uses two different types of weld
machines.
[ NOTE ]
In this command, the set data are sorted in ascending order of the command
current (wire feeding speed). The line where command current is set at 0 is
regarded as end of data, and sorted to the bottom of the table.
9-10
Example1
FOR i=1 TO 16
LTBLSET 1,1 = 0， 0 Clear all linearization data.
LTBLSET 2,1 = 0， 0 All line numbers can be set as 1 (they will be sorted by
current or voltage value)
END
FOR i=1 TO 12
LTBLSET 1,i = a_com[i]， a_da[i] Sets command current and wire feeding speed for
12 lines in the linearization table.
LTBLSET 2, i = wspd _com[i], wspd _ rpm [i]
END
In the program above, the values may be set as following:
small
a_com[1] = 32 a_da[1] = 500
Current
a_com[2] = 64 a_da[2] = 1375

::
acom[12] =384 a_da[12] =11523
large
Wire feeding speed
wspd_com[1] =3.2 small wspd_rpm[1] =14

wspd_com[2] =6.4 wspd_rpm[2] =28
::
wspd_com[12] =38.4 wspd_rpm[12] =65
large
Example 2
LTBLSET 1,12 =,12800 Only the output voltage is changed for line 12. The
current is not changed.
9-11
Monitor Command
Program Instruction
OGSET type number = offset, gain
Function
Sets the linearizer offset and gain set in [Auxiliary function 1404 Arc weld setting - 2 Offset/gain]
via AS language command.
Parameter
Type number
Specifies whether the offset/gain to set is current or voltage. (1: current, 2: wire feeding speed)
Offset
Specifies the offset value to set. Settable range: -9999 mV to 9999 mV. When omitted, no
changes are made to the current values.
Gain
Specifies the gain value to set. Settable range: 0.0 to 9.999. When omitted, no changes are
made to the current values.
Example 1
>OGSET 1=320, 0.98 ↵
>OGSET 2=-102, 1.321 ↵
>OGSET 1= , 0.87 ↵ Only the gain value is changed and not the offset value.
Example 2
OGSET 1 = 320, 0.98
OGSET 2 = -102, 1.321
9-12
Monitor Command
Program Instruction
USLOPEGAIN inclination
Function
Sets the inclination of current change in slope function.
DSLOPEGAIN: Down-slope
USLOPEGAIN: Up-slope
Parameter
Inclination
Sets the inclination of slope. Unit is A/sec. Settable range: 0 to 999A/sec. When the
inclination is set to 0, slope function does not work (current changes at each step).
When used as monitor command, parameter can be omitted to display the currently set values.
The set values remain effective until changed. Default values is 0.
Explanation
Slope function is a function that increases (or decreases) the current at the specified inclination
until it reaches the designated current when the current is changed during welding.
Slope function does not work at weld start point, weld end point with no crater welding, or
immediately after a crater welding.
If there is not enough time for up-slope (down-slope), the current is increased (decreased) to the
designated current after robot reaches the designated point.
The entered values are effective from the next step. This command/ instruction can be used
within a welding procedure (between WS and WE instructions).
9-13
Example
Current 4
1 2 3
WS WC WC WC WE crater
a b C d e
LWS a
LWC b,1
USLOPEGAIN 10 ← Up-slope at 1
LWC c,2
DSLOPEGAIN 10 ← Down-slope at 2
LWC d,1
USLOPEGAIN 5 ← Up-slope at 3
DSLOPEGAIN 20 ← Down-slope at 4
LWE e,3,1
！ CAUTION
When the slope towards weld end point and slope at crater welding are
both up- or down-slope, the inclination cannot be changed for either
point.
9-14
System Switch
．． SSDOWN ．．．
Function
Specifies if software slow down is executed or not.
Parameter
When this switch is ON, robot welds according to the software slow down condition set via
W3SET until WCR signal is input for weld start instruction. If preheating time is set in W3SET,
robot stops and welds for the set time after WCR signal is input (only when arc is generated from
a stopped position (standstill start)).
When this switch is OFF, robot welds according to the welding condition set via W1SET.
Default for this switch is OFF.
Example
ARC ON Enables (turns ON) welding.
SSDOWN ON Enables (turns ON) software slow down.
LMOVE a1
LWS w1
LWE w2,1,1 Welds by software slow down condition until WCR signal is input.
LMOVE a2
ARC OFF Disables (turns OFF) welding.
LMOVE a1
9-15
Memo
9-16
D Series Controller 10.0 AVC (Option)
10.0 AVC (OPTION)

AVCMON Displays AVC status
AVCSET Sets reference voltage for AVC function
AVCGAIN Sets gain values for AVC function
AVCBIAS Sets bias values for AVC function
System Switch
AVC Turns ON/OFF AVC function
AVCBASE Changes AVC pulse area
EXAMPLE
Keyword Parameter
AVCSET reference voltage
Example
AVCSET 1: 20.0
10-1
Monitor Command
AVCMON display mode
Function
Displays the settings for AVC function.
Parameter
Specifies the display mode. Settable range: 1 to 4.
1 - Displays the current command value (reference voltage) and the actual value of welding
voltage.
Displayed items Cur.Ref.(V) Cur.Act.(V)
2 - Displays the deviation values of the current voltage.

Displayed items Current(V) Tool Delta (mm) Total Mod.(mm)
Ref.-Act. Tool-Z Tool-Y Base-X Base-Y Base-Z
(Up =+) (Floor=+)
3 - Displays the same items as AVCMON 1 from log data.

Displayed items Cur.Ref.(V) Cur.Act.(V)
4 - Displays the same items as AVCMON 1 from log data.

Displayed items Current(V) Tool Delta (mm) Total Mod.(mm)
Ref.-Act. Tool-Z Tool-Y Base-X Base-Y Base-Z
(Up =+) (Floor=+)
！ CAUTION
Execute the following commands before using AVCMON3 and AVCMON 4:

RTLOG ON ← Enables logging function.
RTCYCLOG 30 ← Sets logging cycle.
Enter 1 to log every 32msec.
Enter 30 to log every 1 sec (32msec×30 ≈ 1sec)
Maximum number of data reading that can be logged is 256. Use
RTLOGAREA command/ instruction.
10-2
Monitor Command
Program Instruction
AVCSET reference voltage
Function
Sets the reference voltage during AVC function. Keeps the distance between the base metal and
tungsten electrode.
Parameter
Reference voltage
Sets a fixed voltage between the base metal and the tungsten electrode. Settable range: 0.0 to
50.0. Unit is V. If the voltage is omitted when using AVCSET as monitor command, the
currently set values remain unchanged.
Explanation
This command/ instruction overwrites the contents recorded in [Auxiliary Function 1404 Arc
Weld Setting - 12 AVC - 1 Tracking gain/ bias]. The value set remains in effect until changed
again.
When RTCMDI switch is turned OFF (disabled), the value set by AVCSET is made effective for
each step. When ON (enabled), the values are effective immediately after AVCSET is executed.
(See RTCMDI switch).
When used as a monitor command, omit the parameter to display the currently set value. When
used as program instruction, parameter cannot be omitted.
10-3
Monitor Command
Program Instruction
AVCGAIN gain
Function
Sets the gain values for AVC function. This is used to adjust the tracking function, to disable
tracking in tack welding, etc.
Parameter
Gain
Sets the gain for tracking in vertical direction of the torch. Settable range: -9.99 to 9.99.
Unit is mm/V. If the gain is omitted when using AVCGAIN as monitor command, the
Explanation
This command/ instruction overwrites [Auxiliary Function 1404 Arc Weld Setting - 12 AVC -
1 Tracking gain/ bias]. The value set remains effective until changed again.
When RTCMDI switch is turned OFF (disabled), the value set by AVCGAIN is made effective
for each step. When ON (enabled), the value is effective immediately after this AVCGAIN is
executed. (See RTCMDI switch).
10-4
Monitor Command
Program Instruction
AVCBIAS voltage
Function
Sets the bias values for AVC function. This is used to adjust arc length.
Parameter
Voltage
Adjusts the torch in vertical direction, that is the arc length is adjusted. Settable range: -100
to 100. Unit is V. If the bias is omitted when using AVCBIAS as monitor command, the
Lifts the
torch
Lowers the
torch
Explanation
This command/ instruction overwrites [Auxiliary Function 1404 Arc Weld Setting - 12 AVC -
1 Tracking gain/ bias]. The value set remains in effect until changed again.
When RTCMDI switch is turned OFF (disabled), the value set by AVCBIAS is made effective
for each step. When ON, the value is effective immediately after this command/ instruction is
executed. (See RTCMDI switch).
10-5
System Switch
．．． AVC ．．．
Function
Determines whether AVC tracking function is enabled or disabled.
Explanation
When this switch is ON, AVC tracking function is enabled. When this switch is OFF, AVC
tracking function is disabled. Default value for this switch is OFF.
Example
W1SET 1=7,250,0,0,0
W2SET 1=5,120,0
AVCSET 13 ← Sets AVC reference voltage to 13V.
AVCGAIN 1 ← Sets AVC gain to 1mm/V.
LMOVE a1
AVC ON ← Enables AVC tracking function.
LWS p1
LWC p2,1 Tracking by AVC function is carried out.
LWE p3,1,1
LMOVE a2
AVC OFF ← Disable AVC function.
LWS q1
LWC q2,1 Tracking is not done.
LWE q3,1,1
LMOVE a3
10-6
System Switch
．．．AVCBASE ．．．
Function
Changes AVC pulse zone.
Explanation
When this switch is ON, weld voltage is detected only in the low pulse zone when pulse welding
with current boost in special pattern weaving. When this switch is OFF, weld voltage is detected
and AVC function enabled only in the high pulse zone. Default value for this switch is OFF.
When current boost function for special pattern weaving is not used, AVC function is enabled on
both high and low pulse zones regardless of the switch ON/OFF status.
Weld current boost function for special pattern weaving.
Δ Current (%) Tracking is done only in high pulse zone

when AVCBASE OFF.
High pulse zone
Time
Low pulse zone

Tracking is done only in low pulse zone
when AVCBASE ON.
10-7
Memo
10-8
D Series Controller 11. Servo Torch (Option)
11.0 SERVO TORCH (OPTION)

AWINCH Wire inching/retract
AWFSSEQ Sets wire feeding sequence at weld start
AWFESEQ Sets wire feeding sequence at weld end
EXAMPLE
Keyword Parameter
AWINCH/N rotation speed, time
Example
AWINCH 1: 50, 10
11-1
Monitor Command
Program Instruction
AWINCH/N rotation speed, time
Function
Executes wire inching/retract.
Parameter
Rotation speed
Sets the rotation speed of the wire feeding roller. Settable range: -300 to 300. Unit is rpm.
Set positive value for inching, and negative value for retract.
Time
Sets length of time wire is fed. Settable range: 0 to 100. Unit is s (second). When omitted,
0.5 s is automatically set.
Explanation
Executes wire inching/retract at the specified rotation speed, for the specified length of time.
Robot must be ready for operation for the wire to be fed. This is because the wire feeding motor
is installed as an external axis of the robot. First turn ON the motor power and release HOLD.
Then, set the following conditions depending on the mode before starting operation.
At teach mode: Set both TEACH LOCK and TRIGGER ON.
At repeat mode: Execute in robot program.
When used as monitor command with the parameter omitted or specified “/N”, the current
rotation speed set for the wire feeding is displayed continuously. Press ↵ to display the average
rpm value and close the display.
When two servo torch axes and MIG/TIG switching functions are enabled and when two servo
torches are selectively used, executing this command as a monitor command displays the rotation
speed of the wire feeder in the torch selected by MIG/TIG switching function.
If ↵ is pressed while AWINCH/N is being executed as a monitor command, wire inching/retract

stops even if the specified time has not elapsed.
Example
>AWINCH 50,10 ↵ Executes inching of weld wire at 50 rpm for 10 seconds.
11-2
Monitor Command
Program Instruction
AWFSSEQ torch no.: wire feeder ON delay, slow down speed, hot start 1,
hot start 2
Function
Sets via AS language, the wire feeding sequence at weld start set at [Aux. 1404 Arc weld setting –
16 Servo Torch – 5 Weld start/ end sequence].
Parameter
Torch No.
Sets the torch to use for welding. Select 1 or 2 when two servo torch axes function is enabled.
Omit this parameter or specify 1 when two servo torch axes function is not used.
Wire feeder ON delay

After Arc ON signal turns ON, delays the start of the wire feeding by the set time.
Settable range: 0 to 999. Unit is ms. If omitted, the currently set value remains unchanged.
Slow down speed

Sets wire feeding speed to turn WCR signal ON after Arc ON signal turns ON.
Settable range: 1 to 999. Unit is rpm. If omitted, the currently set value remains unchanged.
Hot start 1
Sets the wire feeding time at slow down speed after WCR signal turns ON. If omitted, the
currently set value remains unchanged.
Hot start 2
Sets the time to change from slow down speed to wire feeding speed at welding after Hot start
1 described above has finished. If omitted, the currently set value remains unchanged.
Explanation
Sets wire feeding sequence at arc weld start. When used as monitor command, all the
parameters can be omitted to display the currently set values. Parameters are as shown in the
figure below.
Example
W1SET 1= 60,250,28,2,2
W1SET 2= 50,290,32,3,1
AWFSSEQ 120,25,16,100 Sets the wire feeding sequence at weld start.
11-3
JWS #a0
LWC #a1,1
LWE #a3,2,2
Wire feeding speed (rpm)
Wire feeding speed

at welding
Slow down speed
Weld in progress
Time (t)
Wire feeder Waiting WCR Hot start 1 Hot start 2
ON delay detection
WCR
Arc ON signal
At start of welding
11-4
Monitor Command
Program Instruction
AWFESEQ torch no.: wire feeder OFF delay, flare up time, feeder waiting time
after stuck cancel, time of wire feed after stuck cancel, feeder speed after stuck
cancel
Function
Sets via AS language, the wire feeding sequence at weld end set at [Aux. 1404 Arc weld setting –
16 Servo Torch – 5 Weld start/ end sequence].
Parameter
Torch No.
Sets the torch to use for welding. Select 1 or 2 when two servo torch axes function is enabled.
Omit this parameter or specify 1 when two servo torch axes function is not used.
Wire feeder OFF delay

After Arc ON signal turns OFF, delays the start of the deceleration of the wire feeding by set
value. Settable range: 0 to 999. Unit is ms. During this setting time after Arc ON signal
turns OFF, wire is fed by the speed at welding or crater welding. If omitted, the currently set
value remains unchanged.
Flare up time
Sets time to decelerate from wire feeding speed to 0, after Wire feeder OFF delay has elapsed.
Feeder waiting time after stuck cancel

Sets the time to start wire feeding after wire is detected not to be stuck.
Time of wire feed after stuck cancel

Sets the wire feeding time after weld stuck is canceled. Settable range: 0 to 999. Unit is ms.
If omitted, the currently set value remains unchanged.
Feeder speed after stuck cancel

Sets the wire feeding speed after wire stuck is canceled. Settable range: 1 to 999. Unit is
cm/min. If omitted, the currently set value remains unchanged.
11-5
Explanation
Sets wire feeding sequence at arc weld end. When used as monitor command, all the parameters
can be omitted to display the currently set values. Parameters are as shown in the figure below.
Example
W1SET 1= 60,250,28,2,2
W1SET 2= 50,290,32,3,1
AWFESEQ 120,25,16,100 Sets the wire feeding sequence at weld end.
JWS #a0
LWC #a1,1
LWE #a3,2,2
Wire feeding speed (rpm)
Wire feeding speed

at welding
Arc ON signal
Time t
Wire feeder OFF delay Flare up time
(1) When wire stuck is not detected.
Time1: Wire feeder OFF delay

Time2: Flare up time
Wire feeding speed (rpm) Time3: Feeder waiting time after Stuck cancel
Time4: Time of wire feed after Stuck cancel
Speed at welding Speed: Feeder speed after Stuck cancel
Speed
Time t
Time1 Time2 Time3 Time4
Detecting weld stuck

Arc ON signal
Weld stuck detected Weld stuck not detected
(2) When wire stuck is detected.

At end of welding
11-6
D Series Controller 12. MIG/TIG Welding Switching Function (Option)
12.0 MIG/TIG WELDING SWITCHING FUNCTION (OPTION)
This chapter explains AS language used in MIG/TIG switching function (Option).

TIG Sets TIG welding specification
TOOL/F Sets tool data
AWSET_START Sets weld start sequence
AWSET_RETRY Sets weld restart sequence
AWSET_STICK Sets weld stuck cancel sequence
AWSET_SPOT Sets data necessary for arc spot welding sequence
AWSET_FLOW Sets pre- and after flow data
EXAMPLE
Keyword Parameter
TIG ON/OFF
12-1
Monitor Command
Program Instruction
TIG ON/OFF
Function
Switches ON/OFF (enable/disable) of TIG welding specification.
Parameter
ON
Allows the use of TIG welding specification.
OFF
Disallows the use of TIG welding specification.
Explanation
Omitting the parameter switches the current setting to the opposite setting. For example,
inputting
>TIG
when TIG specification is ON disables the specification.
This command/ instruction is used to switch between MIG and TIG welding.
Example
Performs MIG welding from #a0 to #a2 and then performs TIG welding from #a2 to #a4.
TIG OFF Disables TIG welding.

LWS #a0
LWC #a1, 1 These points are welded with TIG turned OFF.
LWE #a2, 1, 1
TIG ON Enables TIG welding.
LWS #a2
LWC #a3, 2 These points are welded with TIG turned ON.
LWE #a4, 2, 2
12-2
Monitor Command
Program Instruction
TOOL/F transformation values
Function
Sets the transformation values (tool transformation values) that express the position and posture
of the tool center point as seen from the tool mounting flange (null tool coordinates).
Specify “/F” to execute TOOL instruction via PC program.
This command can be executed as a monitor command while robot is in motion.
Parameter
Sets the tool coordinate system.
Explanation
In teach mode, executing this monitor command while robot is in motion changes the tool
transformation values immediately. However, depending on the values set, robot might stop due
to error.
Executing this command or executing this instruction via a PC program while a robot program is
running in repeat mode changes the transformation values immediately. However, robot
continues the motion according to the transformation values before the execution of the command.
The newly set transformation values are reflected to the robot motion starting from the next
motion preparation.
Example
>TOOL/F ↵
X[mm] Y[mm] Z[mm] O[deg] A[deg] T[deg]
0.000 0.000 404.00 90.00 55.00 -90.00
> Change？ (If not, hit RETURN only) ↵
10,10,405,90,55,-90 The tool transformation values are set to these values.
12-3
Monitor Command
Program Instruction
AWSET_START scratch/ standstill start switching distance, keep welding
distance, turn back distance, standstill time
Function
Sets the weld start sequence for arc welding. Sets via AS language the weld start sequence for
arc welding as set in [Auxiliary function 1404 Arc Weld Setting - 3 Weld Start Sequence].
Parameter
Scratch/ Standstill start switching distance
Sets the threshold for switching between scratch and standstill start. Unit is mm. Settable
range: 0 to 999 mm.
Keep welding distance

For scratch start, sets the distance from weld start point in which if arc is generated within that
distance, the robot does not have to return to the weld start point and continues welding to weld
end (continue) point. Unit is mm. Settable range: 0 to 99 mm.
Turn back distance

For scratch start, sets the distance from the end of “keep welding distance” above, in which if arc
is generated within that distance, robot returns to the weld start point and continues welding to the
weld end (continue) point. Unit is mm. Settable range: 0 to 99 mm.
Standstill time
For standstill start, sets the time to stop at weld start point to wait for arc to be generated. Unit is
seconds. Settable range: 0.0 to 9.0 s.
Explanation
Sets parameters for weld start sequence. When used as monitor command, omitting all
parameters displays the currently set values.
Example
W1SET 1= 60,250,28,2,2
W1SET 2= 50,290,32,3,1
AWSET_START 100,20,20,2.0 Sets weld start sequence.
12-4
Monitor Command
Program Instruction
AWSET_RETRY number of retries, wire retract time, wire retract speed,
turn back speed, overlap distance at restart
Function
Sets conditions for retrying arc welding at weld start point. Sets in AS language the settings for
weld start retry as set in [Auxiliary function 1404 Arc Weld Setting - 3 Weld Start Sequence].
Parameter
Number of retries
Sets how many times to retry weld start sequence when arc is not generated.
Wire retract time

Sets the time to feed back the wire before retrying weld start. Unit is seconds. Settable range:
0.0 to 9.9 s.
Wire retract speed

Sets the speed to feed back the wire before performing arc start retry. Unit is percents(%).
Settable range: 0 to 100 %.
Turn back speed

Sets the speed of the torch to move back to weld start point (or to where the robot stopped) at
scratch start or at arc start retry. Unit is cm/ min. Settable range: 1 to 999 cm/min.
Overlap distance at restart

Sets the distance from weld start point (or from where the robot last stopped) to go back and
overlap the welding path when restarting welding. Unit is mm. Settable range: 1 to 99 mm.
Explanation
Sets the welding conditions for when restarting welding (weld start sequence at restart). When
used as monitor command, omitting all parameters displays the currently set values.
Example
W1SET 1= 60,250,28,2,2
W1SET 2= 50,290,32,3,1
AWSET_RETRY 1,0.7,14,999,-1 Sets welding start sequence for restarting welding.
12-5
Monitor Command
Program Instruction
AWSET_STICK number of detections, waiting time for wire stuck detection,
monitoring time, arc ON time
Function
Sets weld stuck cancel sequence. Sets in AS language the conditions for weld stuck cancel
operation as set in [Auxiliary function 1404 Arc Weld Setting - 5 Weld Stuck Cancel Sequence].
Parameter
Number of detections
Sets how many times to detect wire stuck and then to turn arc ON to cancel wire stuck after arc
OFF. Settable range: 0 to 9.
Waiting time for wire stuck detection

Sets the time to wait after arc OFF to start wire stuck detection. Unit is seconds. Settable
range: 0.0 to 9.9 s.
Monitoring time
Wire stuck is detected if wire stuck signal is input within the time set here. Unit is seconds.
Settable range: 0.0 to 9.9 s.
Arc ON time
Sets the time to turn ON arc to release wire stuck when wire stuck is detected. Unit is seconds.
Explanation
Sets parameters for wire stuck cancel sequence. When used as monitor command, omitting all
parameters displays the currently set values.
Example
W1SET 1= 60,250,28,2,2
W1SET 2= 50,290,32,3,1
AWSET_STICK 2, 2.0, 2.0, 3.0 Sets wire stuck cancel sequence.
12-6
Monitor Command
Program Instruction
AWSET_SPOT number of retries, retrying wire retract time,
retrying wire retract speed, wire retract time, wire retract speed
Function
Sets data necessary for arc spot welding sequence. Sets in AS language the data for arc spot
welding sequence as set in [Auxiliary function 1404 Arc Weld Setting - 6 Arc Spot Sequence].
Parameter
Number of retries
Sets up to how many times arc spot welding is repeated when current detection signal is not
returned from the welder during arc spot welding. Settable range: 0 to 9.
Wire retract time

Sets for how long the wire is fed back before arc spot welding when retrying.Unit is seconds.
Wire retract speed

Sets the speed to feed back the wire before retrying arc spot welding. Unit is percents (%).
Settable range is 0 to 100 %.
Wire retract time

Sets for how long the wire is to be retracted after arc spot welding is completed. Unit is seconds.
Wire retract speed

Sets the speed to retract the wire after arc spot welding is completed. （Unit is percents (%).
Settable range is 0 to 100 %.
Explanation
Sets parameters for arc spot welding. When used as monitor command, omitting all parameters
displays the currently set values.
Example
W1SET 1= 60,250,28,2,2
W1SET 2= 50,290,32,3,1
AWSET_SPOT 5, 1.0, 20, 6.5, 100 Sets parameters for arc spot welding.
12-7
Monitor Command
Program Instruction
AWSET_FLOW preflow time, afterflow time
Function
Sets the preflow time (time to turn ON gas before arc generation) and afterflow time(time to
delay turning OFF gas after finishing arc generation). Sets in AS language the preflow and
afterflow time as set in [Aux. 1404 Arc Weld Setting － 7 Preflow/ Afterflow].
Parameter
Preflow time
Sets preflow time. Unit is seconds. Settable range: 0.0 to 9.9 s.
Afterflow time
Sets afterflow time. Unit is seconds. Settable range: 0.0 to 9.9 s.
Explanation
Sets preflow and after flow time. When used as monitor command, omitting all parameters
displays the currently set values.
Example
W1SET 1= 60,250,28,2,2
W1SET 2= 50,290,32,3,1
AWSET_FLOW 2.0, 3,0 Sets preflow and afterflow time.
JWS #a0
LWC #a1,1
LWE #a3,2,2
12-8
D Series Controller Appendix 1 Sample Programs
APPENDIX 1 SAMPLE PROGRAMS
APPENDIX 1.1 SINGLE PASS LINEAR ARC WELDING
This program welds in a single pass between points a1 - a2 - a3 in linear interpolated motion.
#a0 a3 The crater is treated in crater weld

a2
condition number 1 at the weld end
point.
a1
This pass is welded in weld condition
number 1.
W1SET 1 = 33,250,27,3,2,0................ Sets weld speed=33cm/min, current=250A,

voltage=27V, weaving width=3mm, weaving
frequency=2Hz, single oscillation weaving to weld
condition 1.
W2SET 1 = 1.3,170,22.5 .................... Sets stopping time for crater welding=1.3 sec.,
current=170A, voltage=22.5V to crater condition 1.
JMOVE #a0...................................... Jogs torch tip to #a0 in joint interpolated motion.
LWS a1 ............................................ Move to weld start point a1 in linear interpolated

motion.
LWC a2, 1 ...................................... Welds in weld condition 1 while moving to weld
continue point a2 in linear interpolated motion.
LWE a3, 1, 1 .................................. Welds in weld condition 1 while moving to weld end
point a3 in linear interpolated motion. After
reaching a3, treats the crater in crater weld condition
1.
LDEPART 100 ................................ Moves the torch to point 100 mm away from the weld
line.
A-1
APPENDIX 1.2 SINGLE PASS CIRCULAR ARC WELDING
This program welds in a single pass between points a1 - a2 - a3 - a4 - a1 on a circular path in

circular interpolated motion.
#a0
This pass is welded in weld condition 1.
a4
a1 a3
a2
Crater is welded in crater weld condition 1 at this weld end

point.
W1SET 1 = 33,250,27,3,2,0 ................. Sets weld speed=33cm/min, current=250A,

voltage=27V, weaving width=3mm, weaving
frequency=2Hz, single oscillation weaving to weld
condition 1.
W2SET 1 = 1.3,170,22.5 ..................... Sets stopping time for crater welding=1.3 sec.,
current=170A, voltage=22.5V to crater weld
condition 1.
JMOVE #a0 ....................................... Jogs torch tip to #a0 in joint interpolated motion.
LWS a1 ............................................. Moves to weld start point a1 in linear interpolated

motion.
C1WC a2, 1...................................... Welds in weld condition 1 while moving to weld
continue point a2 in circular interpolated motion.
C1WC a3, 1....................................... Welds in weld condition 1 while moving to weld
C1WC a4, 1....................................... Welds in weld condition 1 while moving to weld
C2WE a1, 1, 1 ................................... Welds in weld condition 1 while moving to weld end
point a1 in circular interpolated motion. At
reaching a1, crater is treated in crater condition 1.
LDEPART 100 ................................. Jogs torch tip to point 100 mm away from weld line.
A-2
APPENDIX 1.3 ARC SPOT WELDING
This program arc spot welds at point a1.
#a0
a1 This arc spot weld point is welded in arc spot

weld condition 2.
W2SET 2 = 1.0,150,20 ........................ Sets stopping time for arc spot welding=1.0 sec,
current=150A, voltage=20V to arc spot weld
condition 2.
JMOVE #a0 ....................................... Jogs torch tip to #a0 in joint interpolated motion.
LAS a1, 2........................................ Moves to arc spot weld point a1 in linear interpolated
motion. After reaching a1, the spot is welded in arc
spot weld condition 2.
LDEPART 100 ................................. Jogs the torch tip to point 100 mm away from the arc
spot weld point.
A-3
APPENDIX 1.4 ADJUSTING WIRE EXTENSION BY TOUCH SENSING
This program adjusts wire extension by touch sensing the work.
First sensing motion Second sensing motion
Ö Ö Ö
Retracts wire for 0.5 seconds at
retract speed 20.
#a0 #a0
(or a1)
Feeds wire at
inching speed 1 When the wire
Sensing speed
until it touches touches the work,
15mm/sec.
the work stops feeding wire
Sensing speed and moves to #a0.
5mm/sec
a2
a3 a3
Wire extension - 2mm
Sensing distance =13mm
10mm
To keep wire check accurate, cut wire, clean nozzle or wire tip before executing this program.
wext = 15 .............................................Defines wire extension (feed) as 15 mm.
JMOVE #a0.................................Jogs torch tip to #a0 in joint interpolated motion.
POINT a1 = #a0 ....................................Defines joint displacement values #a0 as

transformation values a1. (Because shift value
cannot be set in joint displacement values)
XAC SHIFT (a1 BY,,-100), a2,10,15...........Moves in linear interpolated motion at sensing speed 15
mm/ sec to position 100 mm downwards from a1(sensing
distance 10 mm). When the wire touches the
work, that pose is defined as transformation values
a2.
BREAK ..........................................Waits execution of next step until sensing motion is
completed.
W.RETRACT 20,0.5 ............................ Retracts wire for 0.5 seconds at retract speed 20 at
the position where work was detected.
XAC SHIFT (a2 BY,,-wext),a3,5,5 ............ Moves in linear interpolated motion at sensing
speed 5 mm/ sec to position shifted 15 mm
downwards from a2 (sensing distance 5 mm).
When the wire tip touches the work again, that
pose is defined as transformation values a3.
A-4
XMWIRE SHIFT (a3 BY,,wext-2),1,0 ........ Stops at position shifted upwards from a3 by the
distance:
wire extension - 2mm = 13mm
and extends wire at inching speed 1 until it touches
the work. (The sensing position is shifted 13mm
because wire may extend an extra 2 mm). If no
work is detected after 5 seconds, error occurs.
LMOVE #a0 ...................................... Stops wire extension when wire touches the work,
and moves to #a0.
A-5
APPENDIX 1.5 SINGLE PASS WELDING USING WELD CONDITION DATABASE
This program welds in a single pass between a1 – a2 in linear interpolated motion, using weld
database for horizontal fillet weld, weld size 6 mm.
#a0 a2 Crater at this weld end point is welded in

crater weld condition 4 from weld condition
database.
a1
This pass is welded in weld condition number
3 from the weld condition database.
DBUSE 1,6 ...................................Declares use of database big category (grove shape):

horizontal fillet, small category (weld size): 6 mm.
(The weld conditions to be registered in advance.)
SETPASS 1.....................................Selects the first pass of the specified database.
GET1WCON 3 = ..........................Substitutes the first pass of the weld database to weld

condition 3.
GET2WCON 4 = ..........................Substitutes the crater condition of the first pass of the
database to crater condition 4.
JMOVE #a0.....................................Jogs the torch tip to #a0 in joint interpolated motion.
LWS a1 ........................................Moves in linear interpolated motion to weld start point

a1.
LWE a2, 3, 4 .................................Welds in weld condition 3 while moving to weld end
point a2 in weld condition 3. After reaching a2,
welds the crater in weld condition 4.
LDEPART 100 ...............................Jogs the torch tip to point 100 mm away from the weld
line.
A-6
APPENDIX 1.6 MULTI-LAYER WELDING USING WELD CONDITION DATABASE
This program welds in multi-layer in one direction between a1 and a2, using weld database for
horizontal fillet weld, weld size 14 mm. This database consists of 3 layers, 6 passes.
#a0
a2
Crater at this weld end point is welded in the
crater weld condition of the weld condition
z
database.
x a1
Each pass is welded with weld condition of
the database.
y
DBUSE 1,5................................................................. Declares use of database big category
(groove shape) horizontal fillet, small
category (weld size) 14 mm. (Weld
conditions are to be registered to database
in advance.)
FOR i=1 TO GETPASS ......................................... Repeats the procedure by the number of
passes in the database. (In this case 6
passes).
SETPASS i ................................................... Specifies the passes to use as reference.
GET1WCON i= ............................................. Substitutes weld data from the designated
pass to the specified weld condition
number.
GET2WCON i= ..............................................Substitutes crater weld data from
designated pass, to the specified crater
condition number.
GETWPOS deltay[i],deltaz[i] ............................... Acquires from the specified pass the
deviation data of the torch pose in Y
direction and Z direction.
END
JMOVE #a0....................................................... Jogs the torch tip to #a0 in joint

interpolated motion.
A-7
FOR i=1 TO GETPASS .......................................... Repeats the below procedure by the

number of passes in database (6 passes) to
weld in multi-layer
LWS SHIFT(a1 BY -deltay[i],0,deltaz[i]) ................. Moves in linear interpolated motion to
weld start point, which is shifted from the
taught weld start point a1, the deviation
amount gained above.
LWE SHIFT(a2 BY -deltay[i],0,deltaz[i]),i,i .............. Welds in the specified weld condition

while moving in linear interpolated
motion to point shifted from the weld end
point a2, by the deviation amount gained
above. After reaching the weld end
point, the crater is welded in the specified
crater condition.
LDEPART 10
IF i=GETPASS GOTO 10 .................................. When the welding procedure is repeated
the number of passes in the weld database,
jumps to label 10.
LMOVE SHIFT (a2 BY -deltay[i+1],0,deltaz[i+1]) ..... Moves to the shifted point to weld the next
pass.
END
10 LDEPART 100 ............................................. Jogs the torch tip to point 100 mm away
from the weld line.
A-8
APPENDIX 1.7 ARC WELDING USING TOUCH SENSING
This program fillet welds in horizontal position the work shown below using touch sensing
function. To find out the shift in work position and keep the actual weld line, 4 frame
coordinates are used. The four frame coordinates are: reference frame coordinates (gf), frame
coordinates to change torch angle (f), frame coordinates for the weld line (f1), frame coordinates
for the actual weld line (f2). The main point of this program is using the frame coordinates.
See also Appendix 1.4 Adjusting Wire Extension By Touch Sensing and SXAC instruction in this
manual, and FRAME function in AS Language Reference Manual.
Conditions on executing this program

1. The wire length is 300 mm, wire extension 15 mm. This is adjustable according to work
size.
2. Weld start point (#sta) is taught at 45° from the work, 90° from the weld line.
3. The vertical plate is at the left side of the direction of weld.
4. The Z axis is set parallel to the direction of gravity. Upwards direction is the “+” direction.
[Sample Program]
SPEED 100 ALWAYS
sp1 = 15 ; sensing speed
st1
le = 15 ; wire extension ｓｔ3
y.le = 300 ; wire length 100 mm 50 mm
POINT g = NULL
ｓｔ2 100 mm
POINT st1 = #sta 100 mm
(1) POINT sta1 = st1 Direction of weld
POINT st2 = st1+SHIFT( g BY,,-100)
ｓｔ2
(2) POINT st3 = SHIFT( st2 BY,,100)
#sta
POINT/Z st2 = st1
(ｓｔ1)
(3) POINT gf=FRAME(st1,SHIFT(st1 BY,,100),st2,st1) Weld start point (taught
(4) POINT st1=gf+SHIFT(g BY 50,50,y.le-100)-gf+st1 in advance)
;
; **** First sensing movement ****
ACCURACY 500 ALWAYS
JMOVE st3
ACCURACY 1 ALWAYS
LMOVE st1
XAC st1+SHIFT( g BY,,100),st1,10,30 Withdraws 25 mm in

direction of tool
(5) BREAK
LDEPART 25
POINT st1=DEST 100 mm
POINT st2 = SHIFT (st1 BY,,100)
(6) POINT st3 = st1+SHIFT(g BY,,-100)
POINT/Z st3 = st1
A-9
(7) POINT f = FRAME (st1,st2,st3,st1)
(8) POINT g1 = RZ(-45)

POINT ta = f+g1-f+st1
Retracts wire
SPEED 10
after moving the
ACCURACY 500 torch 45°
LMOVE ta
; ta
; **** Setting wire extension by touch sensing ****
(9) W.RETRACT 10,0.5
DRAW ,,-20 First sensing
(10) XAC ta+SHIFT(g BY,,(25+le)/SQRT(2)),ta,50,5 movement
BREAK
Extend wire
(11) XMWIRE ta+SHIFT(g BY ,,-le+2),1,0
ta
DELAY 0.5 Wire ext−2mm＝13mm
tb
LDEPART 10 10mm
POINT tb=DEST
st1
POINT st0 = st1+SHIFT(g BY ,,le)
POINT/Z st0 = tb 25mm
ii=1 tb le＝15mm
SPEED 10
1 LMOVE st0 st0
tb set parallel along
base Z
A-10
;
; **** Sensing motion to modify work position ****
POINT ta=-f+st0 Find the first point
by touch sensing
(12) XAC f+SHIFT(ta BY,-50),ta,5,sp1
BREAK
ta ｓｔ0
(13) POINT tb =-f+ta ＝tb1
(14) LMOVE f+SHIFT(tb BY ,5)
(15) XAC f+SHIFT(tb BY,-50,5),tb,5,sp1
BREAK tb
Movement of the
ACCURACY 500 torch on frame (f)
DRAW ,,100
5
IF ii< 2 THEN 10
(16) POINT tb1 = ta
(17) POINT/Z tb1 = tb
(18) POINT tc = -f+st1
(19) POINT st0 = f+SHIFT(tc BY ,,-y.le+120)
ii = ii+1
PRINT “Number o sensing motion “,ii Find the second point
GOTO 1 by touch sensing
ELSE
POINT ta1 = ta
(20) POINT/Z ta1 = tb ｓｔ0
20ｍｍ
END
POINT f1=FRAME(ta1,tb1,SHIFT(ta1 BY,,100),ta1) Movement of the
POINT ta = -f1+ta1 torch on frame (f)
(21) POINT taa = ta
Shifts 180 mm (tc=200mm
(22) POINT ta = SHIFT (ta BY ,5,5) therefore
xl = 10 －300＋120=180mm)
(23) yl = 5 Therefore, distance from
LMOVE f1+SHIFT(ta BY -xl) work edge 200－180=20
;
; **** Edge sensing ****
FOR i = 1 TO 10
POINT tb=SHIFT( ta BY i*(-xl),-yl-5)
POINT tc=SHIFT( ta BY i*(-xl))
POINT td=SHIFT( ta BY (i+1)*(-xl))
SXAC Sensing movement
XAC f1+tb,tc1,0,sp1 Edge detection
BREAK
IF RXAC THEN
PRINT “Work found!”
ELSE
(24) PRINT “No work found！”
GOTO 10
END Detects work edge
ACCURACY 500 here
LMOVE f1+tc
LMOVE f1+td
END
PRINT “Work edge not detected at sensing motion number = ”,i
HALT
10 LMOVE f1+tb
(25) XAC f1+SHIFT(tb BY,15),tc1,2,sp1
BREAK
PRINT “Work edge detected!”
A-11
LMOVE f1+tb
(26) LDEPART 30
POINT ta = -f1+tc1
POINT tb = g
POINT/X tb = ta
(27) POINT tc1 = f1+tb
POINT/OAT tc1 = ta1
POINT tb2 = f1+SHIFT(taa BY,,100)
POINT ta2 = f1+SHIFT(taa BY,100) Weld line
POINT f2 = FRAME(ta1,ta2,tb2,tc1) #sta(st1)
POINT f.sta1 = -gf+sta1
(28) POINT st1 = f2+SHIFT(f.sta1 BY,,5)
POINT st2 = f2+SHIFT(f.sta1 BY,,y.le-5)
; Weld start point
; **** Welding motion **** Angle of torch: 45°
W1SET 1 = 60,200,24,0,0, 90° from the weld line
W2SET 1 = 1,150,18
ACCURACY 500 ALWAYS
LAPPRO st1,30
W.RETRACT 0,0.25
LWS st1
(29) LWE st2,1,1
LDEPART 100
A-12
［Explanation of the Program］
(1) Defines #sta taught in joint displacement values to be transformation values st1 and sta1
(First point). Pose data for st1 changes throughout the program.
(2) Finds st2 to create the reference frame coordinates.
Tool Z direction
Point shifted -100 mm in tool Z direction from

st1is temporarily set as st2.
(Second point)
(3) Sets the point shifted upwards from st1 as the second point. Using this point and points st1
(first point) and st2 (third point), create reference frame coordinates (gf).
Point shifted upwards from st1
Reference frame
coordinates (gf)
(4) The first sensing motion starts from a point –100 mm offset from the length of the work (300
mm) (the point 200 mm along weld line from the weld start point #sta1).
(5) Moves the torch tip to the point 25 mm above the point where the wire touched the work.
(6) Defines the pose variables for creating the frame coordinates to change torch angle (f).
(7) Creates the frame coordinates (f) to change the torch angle.
A-13
Tool Z direction
Frame coordinates (f)
Shift 25 mm upwards
(8) Moves the torch 45° (becomes perpendicular to the work) for touch sensing.
(9) Retracts the wire for 0.5 seconds at retract speed 10.
(10) The torch tip moves towards the work and performs touch sensing.
°
Acceptable range for
Work
deviation of work position is
Shifted work 50 mm.
(11) Adjusts the wire extension by feeding the wire from the position defined as 13 mm (wire
extension -2mm) in (-) direction of tool Z axis from the point where the torch tip touched the
work.
(12) Performs touch sensing on the vertical plate and defines that point as ta.
(13) Transforms ta based on base coordinates to point tb based on frame coordinates.
(14) Moves 5 mm in Y direction of the frame coordinates (f).
(15) Performs touch sensing on the horizontal plate and defines that point as tb.
(16) Copies ta to tb1.
(17) Changes the base Z component of tb1 to be the same as tb (the first point on the weld line).
A-14
(18) Finds start point (st0) for sensing motion of the second point.
(19) In steps between IF and ELSE, finds pose information for the first point by touch sensing.
(20) Finds ta1 based on the point from the second sensing motion.
Steps (19)～(20) finds the rotational deviation of the work.
(21) Changes the inclination of the direction of weld and creates weld line frame coordinates (f1).
Weld line frame coordinates (f1)
(22) Creates start point for work edge sensing (ta).
A-15
(23) Sets the distance for performing edge detection.

(24) Moves along X axis of frame coordinates (f1). Repeats sensing motion for maximum of 10
times, and if no work is found (edge detected), detects the position of the work edge by
touch sensing.
See SXAC instruction for more detail

on edge sensing.
(25) Work edge is detected by following motion.
Sensing distance: 15mm
A-16
(26) After detecting the work edge position, moves to point 30 mm away from f1+tb.
(27) Shifts the frame coordinates (f1) to the work edge position (tc1). Then, turns those
coordinates in the same direction as the reference frame coordinates (gf) and defines them as
actual weld line frame coordinates (f2).
Frame
coordinates (f2)
Õ Õ
Is turned to same direction
Origin of frame coordinates (f2) as frame coordinates (gf). Frame coordinates (f1).
(28) Using the weld start point (#sta1) redefined as (sta1), creates point (f.sta1) on reference
frame coordinates (gf). Point (f.sta1) is brought to the actual weld line frame coordinates
(f2). Then, point (st2) is defined from (f.sta1) by shifting points (st1) along the weld line
by the same amount as the weld length. (Sets posture so that the torch angle remains the
same.)
By steps (27) and (28), accurate weld line is kept even if the work position is different in
repeat mode.
5mm: to avoid excess bead
(29) Welds between weld start point (st1) and weld end point (st2).
A-17
D Series Controller Appendix 2 Error Message for Arc Welding
APPENDIX 2 ERROR MESSAGE FOR ARC WELDING
Errors that may occur in arc weld type robot are as follows.
Some of these may not occur without installation of corresponding options.
New Old
error error Error message Option
code code
P6502 -934 No weld database. Standard
P6503 -935 Cannot change weld condition. Standard
E6500 -999 No welding Interface board. Standard
E6502 -900 Arc failure. Standard
E6503 -901 Wire stuck. Standard
E6505 -948 Arc weld insulation defect. Standard
E6506 -1610 Torch interference. Standard
E6509 -910 No work detected. Touch sensing
E6510 -911 Undefined sensing direction. Touch sensing
E6511 -912 Insufficient sensing points. Touch sensing
E6512 -913 Undefined mother or daughter work. Touch sensing
E6513 -914 Too many sensing points. Touch sensing
E6514 -915 Work specification incorrect. Touch sensing
E6515 -916 Incorrect sensing point specified. Touch sensing
E6516 -917 Wire check failure. Touch sensing
E6517 -920 Incorrect weld condition number. Standard
E6518 -921 No weld data set. Standard
E6519 -922 Weld data is out of range. Standard
E6533 -951 No RTPM board. RTPM
E6534 -960 Too many taught points for RTPM. RTPM
E6535 -961 RTPM arc sensor error. RTPM
E6536 -964 RTPM current deviation error. RTPM
E6537 -962 RTPM tracking value is out of range. RTPM
E6538 -963 Out of RTPM tracking capacity. RTPM
E6539 -969 Out of AVC tracking value. AVC
E6540 -971 Out of AVC tracking capacity. AVC
E6541 -967 No AVC board. AVC
E6542 -972 AVC voltage deviation error. AVC
E6543 -968 Too many taught points for AVC. AVC
A-18
D Series Controller Appendix 2 Error Message for Arc Welding
New Old
error error Error message Option
code code
E6544 -990 Hyper Arc tracking value is out of range. Hyper arc
E6545 -991 Out of Hyper Arc tracking capacity. Hyper arc
E6546 -993 Bead end is not found. Hyper arc
E6547 -994 Finish end is not found. Hyper arc
E6548 -995 Hyper Arc revolution beyond normal deviation. Hyper arc
E6549 -996 Hyper Arc torch calibration error. Hyper arc
E6550 -997 Hyper Arc Z phase index error. Hyper arc
E6551 -985 No Hyper Arc board. Hyper arc
E6552 -986 Hyper Arc board error. Code is XXXX. Hyper arc
E6553 -987 Hyper Arc current sensor error. Hyper arc
E6554 -988 Hyper Arc voltage sensor error. Hyper arc
E6555 -989 Hyper Arc current deviation error. Hyper arc
E6556 -992 Hyper Arc amplifier error. Code is XXXX. Hyper arc
E6559 -947 Wire feeding speed deviation error. Servo torch
E6560 -965 Cannot calibrate again while welding. Hyper arc
E6561 -966 Cannot weld during re-calibration. Hyper arc
E6562 -902 Electric pole stuck. TIG welding
A-19
D Series Controller Appendix 3 List of AS Language for Arc Welding
APPENDIX 3 LIST OF AS LANGUAGE FOR ARC WELDING

(ALPHABETICAL ORDER)
(Note) M(Monitor Command) P(Program instruction) S(Switch) F(Function)
Name Function Pg.

ARC Enables/ disables welding S 2-29 Standard
ARC_ALLROB (Multi D Controller) Enables/ disables S 2-29 Standard
welding in all robots.
AVC Turns ON/OFF AVC function S 10-6 AVC
AVCBASE Changes AVC pulse area S 10-7 AVC
AVCBIAS Sets bias values for AVC function M/P 10-5 AVC
AVCGAIN Sets gain values for AVC function M/P 10-4 AVC
AVCMON Displays AVC status M 10-2 AVC
AVCSET Sets reference voltage for AVC function M/P 10-3 AVC
AWFESEQ Sets wire feeding sequence at weld end. M/P 11-5 Servo torch
AWFSSEQ Sets wire feeding sequence at weld start. M/P 11-3 Servo torch
AWINCH Wire inching/retract M/P 11-2 Servo torch
AWSET_FLOW Sets pre-flow/ after flow M/P 12-8 MIG/TIG switch
AWSET_RETRY Sets weld start sequence M/P 12-5 MIG/TIG switch
AWSET_SPOT Sets weld restart sequence M/P 12-7 MIG/TIG switch
AWSET_START Sets weld stuck cancel sequence M/P 12-4 MIG/TIG switch
AWSET_STICK Sets arc spot data M/P 12-6 MIG/TIG switch
C1WC Sets weld continue point P 2-17 Standard
(circular interpolated motion 1)
C2WC Sets weld continue point P 2-17 Standard
C2WE Sets weld end point P 2-19 Standard
DBCLEAR Clears database memory M 7-11 Weld condition database
DBCREATE Creates memory area for new database M/P 7-13 Weld condition database
DBFREE Returns avail. memory area in database F 7-19 Weld condition database
DBNAME Names groove and weld size in database M/P 7-12 Weld condition database
DBUSE Declares the database to use M/P 7-2 Weld condition database
DBWRITE Writes data onto database M/P 7-14 Weld condition database
DELPASS Deletes a pass from database M/P 7-17 Weld condition database
DEXT Returns the specified component from pose F 8-4 External axis control
data
DSLOPEGAIN Sets down-slope inclination M/P 9-2 TIG welding
DWC Sets weld condition in stationary welding P 2-25 Standard
GET1WCON Gains weld data from database M/P 7-5 Weld condition database
A-20
Name Function Pg.

GET2WCON Gains crater (arc spot) weld data from M/P 7-7 Weld condition database
database
GETPASS Returns total number of passes in database F 7-18 Weld condition database
GETWAUX Gains start point sensing pattern and RTPM M/P 7-10 Weld condition database
bias (vertical, lateral)
GETWPOS Gains torch position data from database M/P 7-9 Weld condition database
INSPASS Inserts new pass into database M/P 7-16 Weld condition database
INSUL_CHK Checks for insulation failure. M/P 2-28 Standard
JAS Sets arc weld point P 2-26 Standard
(joint interpolated motion)
JWS Sets weld start point P 2-16 Standard
(joint interpolated motion)
LAS Sets arc weld point P 2-26 Standard
(linear interpolated motion)
LTBLSET Sets linearization data M/P 2-13 Standard
LWC Sets weld continue point P 2-17 Standard
LWE Sets weld end point P 2-19 Standard
LWS Sets weld start point P 2-16 Standard
OGSET Sets offset/ gain M/P 2-15 Standard
POINT/7 Defines external axis (7) M/P 8-2 External axis control
POINT/EXT Defines external axis (all external axes) M/P 8-2 External axis control
RTBIAS Sets bias for RTPM function M/P 5-5 RTPM
RTCMDI Changes execution timing of RTGAIN and S 5-11 RTPM
RTBIAS
RTCONT Turns ON/OFF RTPM continue function S 5-12 RTPM
RTCYCLOG Sets logging cycle for RTPM logging M/P 5-6 RTPM
function
RTDLYTIME Sets delay time for RTPM integral interval. M/P 5-8 RTPM
RTGAIN Sets gain for RTPM function M/P 5-4 RTPM
RTGETNUM Returns number of taught points recorded in F 5-14 RTPM
RTPM function
RTHERE Returns shift amount recorded in RTPM F 5-15 RTPM
function
RTLOG Turns ON/OFF RTPM logging function S 5-10 RTPM
A-21
Name Function Pg.

RTLOGAREA Sets logging area for RTPM logging function M/P 5-7 RTPM
RTMON Displays RTPM settings M 5-2 RTPM

RTPM Turns ON/OFF RTPM function S 5-9 RTPM
RXAC Returns touch sensing results F 3-8 Touch sensing
SAVE/ARC Saves welding data to memory devices M 2-12 Standard
SETPASS Declares the pass to use M/P 7-4 Weld condition database
SSDOWN Turns ON/OFF software slowdown S 9-15 TIG welding
SSENSING Turns ON/OFF start point sensing S 6-3 Start point sensing
SSENSPTN Sets pattern number for start point sensing M/P 6-2 Start point sensing
STWC Sets weld continue point in stationary weld P 2-21 Standard
STWE Sets weld end point in stationary welding P 2-23 Standard
SXAC Ignores no work found error in touch sensing P 3-6 Touch sensing
TIG Sets TIG welding specification M/P 12-2 MIG/TIG switch
TOOL/F Sets tool data M/P 12-3 MIG/TI switch
TRADD Changes to cooperative coordinate system F 8-5 External axis control
based values
TRSUB Changes to robot coordinate system based F 8-７ External axis control
values)
USLOPEGAIN Sets up-slope inclination M/P 9-13 TIG welding
W.INCHING Feeds filler wire M/P 2-8 Standard
W.RETRACT Retracts filler wire M/P 2-9 Standard
M/P 2-3 Standard
M/P 9-3 TIG welding
M/P 2-5 Standard
M/P 9-5 TIG welding
W3SET Sets software slowdown condition M/P 9-7 TIG welding
M 2-6 Standard
M 9-9 TIG welding
WVDIR Enables/ disables specification of weld S 2-30 Standard
direction in stationary welding
WVDIRCMDI Switches timing for enabling/disabling S 2-31 Standard
WVSDIR command/ instruction
WVLIST Displays weaving pattern M 4-2 Special pattern weaving
WVPTNSET Sets weaving pattern M/P 4-3 Special pattern weaving
WVSDIR Sets welding direction in stationary welding M/P 2-10 Standard
XAC Defines pose data by touch sensing P 3-2 Touch sensing
XMWIRE Wire check P 3-4 Touch sensing
A-22
D Series Controller Appendix 4 Software Dedicated Signal for Arc Welding
APPENDIX 4 SOFTWARE DEDICATED SIGNAL FOR ARC WELDING
The following software dedicated signals can be used for arc welding. Assign signal numbers
to the signal to be used via DEFSIG command/ instruction or auxiliary function screen.
Software dedicated input signal Software dedicated output signal

Wire inching signal Positioner ON signal
External weld signal Positioner speed signal
Wire retract signal Error #1
Positioner OFF signal Error #2
Arc signal (input) Error #3
Error #4
Error #5
Error #6
Error #7
Error #8
WCR
Weld ON/OFF
Pole ratio (Option)
Arc signal (output)
Arc current output
Arc voltage output
A-23
D Series Controller Appendix 5 ASCII Codes
APPENDIX 5 ASCII CODES
ASCII Hexa-
Octal Decimal Description
character decimal
NULL 000 00 00 Null
SOH 001 01 01 Start of heading
STX 002 02 02 Start of text
ETX 003 03 03 End of text
EOT 004 04 04 End of transmission
ENQ 005 05 05 Enquiry
ACK 006 06 06 Acknowledge
BEL 007 07 07 Bell
BS 010 08 08 Backspace
HT 011 09 09 Horizontal tabulation
LF 012 10 0A Line feed
VT 013 11 0B Vertical tabulation
FF 014 12 0C Form feed
CR 015 13 0D Carriage return
SO 016 14 0E Shift out
SI 017 15 0F Shift in
DLE 020 16 10 Data link escape
DC1 021 17 11 Device control 1
NAK 025 21 15 Negative acknowledge
SYN 026 22 16 Synchronous idle
ETB 027 23 17 End of transmission block
CAN 030 24 18 Cancel
EM 031 25 19 End of medium
SUB 032 26 1A Substitute
ESC 033 27 1B Escape
FS 034 28 1C File separator
GS 035 29 1D Group separator
RS 036 30 1E Record separator
US 037 31 1F Unit separator
SP 040 32 20 Space
A-24
ASCII Hexa- ASCII Hexa-

Octal Decimal Octal Decimal
character decimal character decimal
040 32 20 0 060 48 30
! 041 33 21 1 061 49 31
” 042 34 22 2 062 50 32
# 043 35 23 3 063 51 33
$ 044 36 24 4 064 52 34
% 045 37 25 5 065 53 35
& 046 38 26 6 066 54 36
’ 047 39 27 7 067 55 37
( 050 40 28 8 070 56 38
) 051 41 29 9 071 57 39
* 052 42 2A : 072 58 3A
+ 053 43 2B ; 073 59 3B
‘ 054 44 2C < 074 60 3C
A-25

@ 100 64 40 140 96 60
A 101 65 41 a 141 97 61
B 102 66 42 b 142 98 62
C 103 67 43 c 143 99 63
D 104 68 44 d 144 100 64
E 105 69 45 e 145 101 65
F 106 70 46 f 146 102 66
G 107 71 47 g 147 103 67
H 110 72 48 h 150 104 68
I 111 73 49 i 151 105 69
J 112 74 4A j 152 106 6A
K 113 75 4B k 153 107 6B
L 114 76 4C l 154 108 6C
M 115 77 4D m 155 109 6D
N 116 78 4E n 156 110 6E

P 120 80 50 p 160 112 70
Q 121 61 51 q 161 113 71
R 122 62 52 r 162 114 72
S 123 63 53 s 163 115 73
T 124 64 54 t 164 116 74
U 125 65 55 u 165 117 75
V 126 76 56 v 166 118 76
W 127 77 57 w 167 119 77
X 130 78 58 x 170 120 78
Y 131 79 59 y 171 121 79
Z 132 80 5A z 172 122 7A
〔 133 81 5B 173 123 7B
¥ 134 82 5C 174 124 7C
〕 135 83 5D 175 125 7D
136 84 5E 176 126 7E
- 137 85 5F DEL 177 127 7F
A-26
D Series Controller Appendix 6 Arc Welding AS Languages with Robot Number
Kawasaki Robot Arc Welding AS Language Reference Manual For Multi D Series Controller
APPENDIX 6 ARC WELDING AS LANGUAGE WITH ROBOT NUMBER FOR MULTI

D SERIES CONTROLLER
When using the below AS languages in Multi D Series controller configured with more than
one robot, insert the robot number (parameter n, where n=1, 2, …) after the keyword to
specify the target robot, as shown in the example below.
Example W1SET 1: 1=60,250,28,2,3
Name Function Format (Parameter) Pg.

ARC Enables/ disables welding S ARC Robot no.: ON/OFF 2-29 Standard
Turns ON/OFF AVC
AVC S AVC Robot no.: ON/OFF 10-6 AVC
function
Sets bias values for AVC
AVCBIAS M/P AVCBIAS Robot no.: voltage 10-5 AVC
function
Sets gain values for AVC
AVCGAIN M/P AVCGAIN Robot no.: gain 10-4 AVC
function
AVCMON Robot no.: display
AVCMON Displays AVC status M 10-2 AVC
mode
Sets reference voltage for AVCSET robot no.: reference
AVCSET M/P 10-3 AVC
AVC function voltage
AWFESEQ robot no.: torch
no.: wire feeder OFF delay, flare
Sets wire feeding sequence up time, feeder waiting time
AWFESEQ M/P 11-5 Servo torch
at weld end. after stuck cancel, time of wire
feed after stuck cancel, feeder
speed after stuck cancel
AWFSSEQ torch no.: wire

Sets wire feeding sequence
AWFSSEQ M/P feeder ON delay, slow down 11-3 Servo torch
at weld start.
speed, hot start 1, hot start 2
AWINCH/N robot no.: rotation

AWINCH Wire inching/retract M/P 11-2 Servo torch
speed, time
Sets down-slope DSLOPEGAIN robot no.:
DSLOPEGAIN M/P 9-13 TIG welding
inclination inclination
GET1WCON robot no...: weld
condition number = speed, Weld
Gains weld data from
GET1WCON M/P current, voltage, weaving width, 7-5 condition
database
weaving frequency, weaving database
pattern, pole ratio
GET2WCON robot no.: crater Weld
Gains crater (arc spot)
GET2WCON M/P (arc spot) weld condition = time, 7-7 condition
weld data from database
current, voltage, pole ratio database
RTMON robot no.: display
RTMON Displays RTPM settings M 5-2 RTPM
mode
Turns ON/OFF software SSDOWN Robot no.:
SSDOWN S 9-15 TIG welding
slowdown ON/OFF
A-27
D Series Controller Appendix 6 Arc Welding AS Languages with Robot Number
Kawasaki Robot Arc Welding AS Language Reference Manual For Multi D Series Controller
Name Function Format (Parameter) Pg.

Turns ON/OFF start point SSENSING Robot no.: Start point
SSENSING S 6-3
sensing ON/OFF sensing
Sets pattern number for SSENSPTN Robot no.: pattern Start point
SSENSPTN M/P 6-2
start point sensing number sensing
USLOPEGAIN robot no.:
USLOPEGAIN Sets up-slope inclination M/P 9-13 TIG welding
inclination
W.INCHING robot no.: speed,
W.INCHING Feeds filler wire M/P 2-8 Standard
time
W.RETRACT robot no.: speed,

W.RETRACT Retracts filler wire M/P 2-9 Standard
time
W1SET robot no.: weld
2-3 Standard
condition number = speed,
W1SET Sets arc weld condition M/P current, voltage, weaving width,
weaving frequency, pattern 9-3 TIG welding
number, pole ratio
W2SET robot no.: crater weld 2-5 Standard
Sets crater and arc spot M/P
W2SET condition number = time,
weld condition
current, voltage, pole ratio 9-5 TIG welding
W3SET robot no.: preheating
Sets software slowdown time, current, wire feeding
W3SET M/P 9-7 TIG welding
condition speed, weaving width, weaving
frequency, pattern no., pole ratio
WLIST robot no.: condition 2-7 Standard
WLIST Displays weld conditions M
type, condition number 9-9 TIG welding
Enables/ disables
specification of weld
WVDIR S WVDIR robot no.: ON/OFF 2-30 Standard
direction in stationary
welding
witches timing for
enabling/disabling WVDIRCMDI robot no.:
WVDIRCMDI S 2-31 Standard
WVSDIR command/ ON/OFF
instruction
WVLIST robot no.: pattern Special pattern
WVLIST Displays weaving pattern M 4-2
number weaving
Sets welding direction in
WVSDIR M/P WVSDIR robot no.: x, y, z 2-10 Standard
stationary welding
A-28
Kawasaki Robot Controller D Series
ARC WELDING AS LANGUAGE REFERENCE MANUAL
May 2003 : 1st Edition

October 2007 : 4th Edition
Published by KAWASAKI HEAVY INDUSTRIES, LTD.
90209-1018DED
All rights reserved. Copyright © 2007 KAWASAKI HEAVY INDUSTRIES, LTD.

1018DED Arc Welding As Reference Manual

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Kawasaki Robot Controller

Kawasaki Heavy Industries, Ltd.

Failure to comply with indicated matters can result in

Denotes precautions regarding robot specification,

1. The accuracy and effectiveness of the diagrams, procedures, and detail

1.0 Rules Regarding Use of AS Language for Arc Welding························································ 1-1

2.0 General Commands················································································································· 2-1

3.0 Touch Sensing (Option) ·········································································································· 3-1

SXAC instruction·························································································································· 3-6

4.0 Special Pattern Weaving (Option) ·························································································· 4-1

5.0 RTPM (Option) ······················································································································· 5-1

6.0 Start Point Sensing (Option) ··································································································· 6-1

7.0 Weld Condition Database (Option)························································································· 7-1

DBFREE function······················································································································· 7-19

8.0 External Axis Control ············································································································· 8-1

9.0 TIG Welding (Option) ············································································································ 9-1

10.0 AVC (Option) ····················································································································· 10-1

11.0 Servo Torch (Option) ·········································································································· 11-1

12.0 MIG/TIG Switching Function (Option) ············································································ 12-1

Appendix 1 Sample Programs ····························································································· A-1

1.0 RULES REGARDING USE OF AS LANGUAGE FOR ARC WELDING

When using the AS language for arc welding, be sure to follow

1. Start a welding program using weld start point commands.

Good! LMOVE p1 Bad! LMOVE p1

2. End a weld program using weld end point commands.

2.0 GENERAL COMMANDS

Program Instruction (Motion Instructions)

Program Instruction (Non-motion instruction)

DWC Sets weld condition in stationary welding

Parameters marked with can be omitted.

Always enter a space between the keyword and the parameter.

↵ represents the Enter key in the examples.

Pattern number (Option)

Pole ratio (Option)

>W1SET 1=60,250,28,2,3 ↵ Sets 60cm/min, 250A, 28V, 2mm, 3Hz to weld

Pole ratio (Option)

Example Refer to the examples for W1SET.

Vector for traveling

>WVSDIR ↵ The set traveling direction vector is normalized and

Command current (voltage)

Output voltage (wire feeding motor speed)

In the program above, the values may be set as following:

a_com[2] = 64 a_da[2] = 1375

v_com[1] = 3.2 small v_da[1] = 1100

v_com[2] = 6.4 v_da[2] = 2950

>OGSET 2=-102, 1.321 ↵

C1WC instruction: 1. Pose of previous motion instruction

C2WCinstrution 1. Pose of C1WC before this instruction

Weld condition number

Weld condition number

Crater weld condition number

W1SET 1= 80,200,25 Sets SP=80cm/min, A=200A, V=25V to weld condition 1.

Weld condition number

Weld condition number

Crater weld condition number

Welding condition No.

Arc spot weld condition number

arc spot point

Default setting for this switch is OFF.

At the initialization, this switch is set to ON.

3.0 TOUCH SENSING (OPTION)

This chapter explains AS language used in touch sensing function (Option).

Real Value Function