| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for controlling an arc welding robot capable of reliably starting arc at a welding starting position. SOLUTION: After the length of a wire is set to be shorter than the projection length of the wire during the welding by the wire cutting or the reverse inching (Step S1), a welding torch is moved to the arc starting position (Step S2), and the inching operation is performed to a workpiece by applying the sensing voltage to the wire (Step S3). If conduction with the workpiece is detected during the inching (Step S4), the wire of the predetermined length is reverse-sensed after the wire is separated from the workpiece, and the arc is started thereafter (Step S5). If conduction with the workpiece cannot be detected during the inching, and the arc start retrieval number is not reached (Step S6), the torch is drawn upwardly by the predetermined distance, the wire is reverse-inched (Step S8), the arc starting position is shifted in the XYZ direction (Step S9), and conduction is repeatedly detected. COPYRIGHT: (C)2006,JPO&NCIPI |
