Abstract: An arc welding display device is included in a welding apparatus having a weaving function of swinging a torch with respect to a welding direction. The arc welding display device displays, on a screen, at least one of a welding current and a welding voltage during the arc welding with a range sectioned by each fixed period including at least one weaving period.

Abstract: In an arc-tracking welding method and a welding device of the present invention, a deviation amount between a weaving center and a welding line is obtained based on a first relationship and a second relationship. The first relationship is a relationship between a weaving position and any one element of three electrical first to third elements related to Ohm's law, the relationship being obtained based on a physical model of an arc welding phenomenon and being associated with the deviation amount. The second relationship is a relationship between the weaving position and the element, the relationship being obtained based on the element in welding power.

Abstract: In a method for detecting a deviation in arc-tracking welding, a deviation between a welding line and an actual welding position is detected in arc-tracking welding for performing welding tracking the welding line while performing a weaving operation of swinging a welding torch with respect to a welding direction. The method includes fitting a waveform expressed by a function repeated periodically in a period equal to a weaving period to a waveform of a welding current or a welding voltage and detecting a deviation in arc-tracking welding based on a fitted waveform.

Abstract: An arc-tracking welding method according to the present invention is an arc-tracking welding method in a consumable-electrode-type welding apparatus provided with a weaving function for swinging a torch in the welding direction, wherein a welding current and a welding voltage to be supplied to a consumable electrode include high-frequency components. A change in resistance value resulting from a fluctuation in electrode height is detected from the welding current and the welding voltage during welding. Then, a shift of a weld line is detected from information about the detected resistance value and both end positions of a weaving amplitude.

Abstract: Provided is a welding robot mechanism that has: a welding robot having a touch sensing function; a welding power source for supplying welding power to the welding robot; and a control unit for controlling the welding robot, wherein the welding power source has a welding power source communication unit that receives detection signals with regard to control of the welding robot and the touch sensing, and transmits the detection signals outward. The control unit is linked to the welding power source communication unit via a serial bus communication wire. The detection signals comprise a mass of data including a detection data group designated as a first group and a detection data group designated as a second group, and is configured to read the detection data group designated as the first group in a shorter cycle than that for the detection data group designated as the second group. The detection data group designated as the first group includes a detection signal obtained by the touch sensing.

Abstract: An arc-tracking welding method according to the present invention is an arc-tracking welding method in a consumable-electrode-type welding apparatus provided with a weaving function for swinging a torch in the welding direction, wherein a welding current and a welding voltage to be supplied to a consumable electrode include high-frequency components. A change in resistance value resulting from a fluctuation in electrode height is detected from the welding current and the welding voltage during welding. Then, a shift of a weld line is detected from information about the detected resistance value and both end positions of a weaving amplitude.

Abstract: This welding state determination system acquires, for each weaving cycle, a characteristic amount that pertains to a physical quantity that changes according to the cycle of a weaving operation. A degree of abnormality is calculated based on an observation value that is the characteristic amount acquired in one cycle, and the average and standard deviation of a plurality of past values that are the characteristic amounts acquired prior to the one cycle. A welding state is determined based on the calculated degree of abnormality.

Abstract: A control device connected to one or more to-be-controlled devices via a network includes: a storage that stores information of a synchronization period of a time interval for synchronization with the to-be-controlled devices, and communication periods of plural time intervals established in the synchronization period; a calculator that calculates, for each of the to-be-controlled devices, a control instruction instructing the to-be-controlled device to operate in synchronization; and a communication controller that performs, based on the information stored in the storage, a control such that the control instruction is transmitted and received between the control device and each of the to-be-controlled devices during the synchronization period, the communication controller allocating a respective control instruction corresponding to each of the to-be-controlled devices to at least one of the communication periods established in the synchronization period, thereby transmitting/receiving data including the allo

Abstract: Provided is a welding state determination device that can easily determine the welding state. The welding state determination device includes: an acquisition unit that acquires a pulse waveform of a pulse current or a pulse voltage supplied to an electrode for pulse arc welding, the pulse waveform including a falling portion, a rising portion, and a flat portion therebetween; a preprocessing unit that shapes the pulse waveform such that the flat portion has a predetermined width; and a determination unit that determines a state of the pulse arc welding based on a difference between the shaped pulse waveform and a normal pattern created based on a plurality of past shaped pulse waveforms.

Abstract: In a method for detecting a deviation in arc-tracking welding, a deviation between a welding line and an actual welding position is detected in arc-tracking welding for performing welding tracking the welding line while performing a weaving operation of swinging a welding torch with respect to a welding direction. The method includes fitting a waveform expressed by a function repeated periodically in a period equal to a weaving period to a waveform of a welding current or a welding voltage and detecting a deviation in arc-tracking welding based on a fitted waveform.

Abstract: An arc welding display device is included in a welding apparatus having a weaving function of swinging a torch with respect to a welding direction. The arc welding display device displays, on a screen, at least one of a welding current and a welding voltage during the arc welding with a range sectioned by each fixed period including at least one weaving period.

Abstract: Provided is a welding robot mechanism that has: a welding robot having a touch sensing function; a welding power source for supplying welding power to the welding robot; and a control unit for controlling the welding robot, wherein the welding power source has a welding power source communication unit that receives detection signals with regard to control of the welding robot and the touch sensing, and transmits the detection signals outward. The control unit is linked to the welding power source communication unit via a serial bus communication wire. The detection signals comprise a mass of data including a detection data group designated as a first group and a detection data group designated as a second group, and is configured to read the detection data group designated as the first group in a shorter cycle than that for the detection data group designated as the second group. The detection data group designated as the first group includes a detection signal obtained by the touch sensing.

Abstract: A control device connected to one or more to-be-controlled devices via a network includes: a storage that stores information of a synchronization period of a time interval for synchronization with the to-be-controlled devices, and communication periods of plural time intervals established in the synchronization period; a calculator that calculates, for each of the to-be-controlled devices, a control instruction instructing the to-be-controlled device to operate in synchronization; and a communication controller that performs, based on the information stored in the storage, a control such that the control instruction is transmitted and received between the control device and each of the to-be-controlled devices during the synchronization period, the communication controller allocating a respective control instruction corresponding to each of the to-be-controlled devices to at least one of the communication periods established in the synchronization period, thereby transmitting/receiving data including the allo

Abstract: The teach pendant (3) is provided with an arranged button section (31) in which multiple operation buttons (B1-B12) for setting operation instruction information for a welding robot (2), on the tip of which a welding tool (6) is installed, are disposed. The teach pendant gives movement instructions to the welding robot (2) as a result of operation instruction information being set using the operation buttons (B1-B12). The arranged button section (31) arranges the multiple operation buttons (B1-B12) in directions that correspond to the welding tool (6) movement directions, which are based on movement instructions to the welding robot (2) resulting from the operation instruction information.

Abstract: The purpose of the present invention is to have the angles of each of the drive shafts of the first articulated drive system infallibly reach the angle of the work completed position, while maintaining the rate of movement and position of the working parts of an articulated robot. If exception conditions are not satisfied, the drive shafts of first and second articulation drive systems are driven individually (S64) on the basis of interpolated points calculated in step 5 (S5).

Abstract: In order to suppress fluctuations in specific components of posture angle in a target coordinate system while maintaining the position of the leading edge of the wrist, the velocity of movement of the leading edge of the wrist, and the permissible velocity of the shaft during velocity suppression, an articulated robot which moves while calculating the position in interpolated points on a teaching path, the posture and the angles in each axis is provided, wherein a judgment is made as to whether the velocity of the wrist shaft exceeds a permissible limit, and if the permissible limit is exceeded, a plurality of candidates for angle of the wrist shaft that maintain the velocity within permissible limits are calculated, and the candidate with the minimum fluctuation in the specific component of the posture angle of the weld line coordinate system is selected.

Abstract: The purpose of the present invention is to have the angles of each of the drive shafts of the first articulated drive system infallibly reach the angle of the work completed position, while maintaining the rate of movement and position of the working parts of an articulated robot. If exception conditions are not satisfied, the drive shafts of first and second articulation drive systems are driven individually (S64) on the basis of interpolated points calculated in step 5 (S5).

Abstract: In order to suppress fluctuations in specific components of posture angle in a target coordinate system while maintaining the position of the leading edge of the wrist, the velocity of movement of the leading edge of the wrist, and the permissible velocity of the shaft during velocity suppression, an articulated robot which moves while calculating the position in interpolated points on a teaching path, the posture and the angles in each axis is provided, wherein a judgment is made as to whether the velocity of the wrist shaft exceeds a permissible limit, and if the permissible limit is exceeded, a plurality of candidates for angle of the wrist shaft that maintain the velocity within permissible limits are calculated, and the candidate with the minimum fluctuation in the specific component of the posture angle of the weld line coordinate system is selected from said plurality of candidates and made to serve as the angle of the wrist shaft, the angles of other shafts that correspond to this angle are recalculat