You are best to not teach the 4 points, then change them to circular, because when you change a point to circular, it automatically adds an end point. The way I have always done it is I teach the start point (usually as linear) then move to the mid point of the arc and teach that as a new point (Joint or linear doesn't matter). I then change this new point to a circular point by highlighting the L (or J if joint) and pressing F4 for choice and selecting circular. I then move to the end point of the arc and teach that in the new point that is needed for circular. Hope this helps. Now, the easiest way to modify your working program to add a new arc start is to move your cursor to the end of the second circle line (just past the termination type) and press the F4 button for choice, and select arc start. Your final section should look something like the following (been a bit, and going from memory) L1:start point 2000mm Fine, Arc Start1 C2:circle point 1 2000mm/s CNT100 3:circle point 2 C4:circle point 3 2000mm/s CNT100, Arc Start2 5:circle point 4 Arc End2 Hope this helps.

1. Fanuc Teach Pendant Manual
2. Abb Teach Pendant Manual

I`m running this full circle welding program with R-J3 controller. 91: J P91 40% FINE: ArcStart1 92: C P92: P93 30inch/min CNT10 93: C P94: P95 30inch/min CNT10: ArcEnd1.

P91 and P95 are at the same position. I can add another ArcStart at P93 only. At P92 and P94, the Motion option is Offset and Tooloffset. So, if I want to weld a full circle with 3 ArcStart , I will teach a (1/3 + 1/3 + 1/3 ) circle program. With the new arcmate 120iC, can you add the ArcStart at any point? That`s good news! Try this to program a circular path.

Instead of teaching positions along the circular path, you can write the position information to a position register within a main program. For example, assume you are welding a circular part that is 100MM in diameter. Lines 37-42 below sets the position register elements for PR(30) at a 50MM radius and 90 degrees. Lines 45-50 set PR(31) at 100MM diameter at 180 degrees and so on.

Fanuc Teach Pendant Manual

The only taught point would be the weld start position which is a linear move. The remaining moves (90 degrees, 180 degrees.) are Circular (C) incremental moves (INC) as shown below. When INC moves are used, the robot will move, uhh incrementally, from the previous position. By the way, the program below is referencing a Weld Precedure and Schedule where is says 'Weld Start2,1'. All of the weld parameters are set in the procedure & schedule and you can certainly change schedule during a weld. You set-up the weld procedure settings by going to Data, Type, Weld Procedure. I think there are 6 schedules per weld procedure. Hanes guide ford focus 2018.

Abb Teach Pendant Manual

Within the schedules, you can set all kinds of parameters such as sheild gas pre/post flow time, Arc ramping by position or time, torch speed, dwell time.what is avalialable probably depends on your equipment. Also, if you select 'WELDSPEED' as shown below, the program will reference whatever speed you call out in the Schedule. Other wise, if you have a speed called out in the program, such as 10 ipm, this will supercede a speed in teh weld schedule.