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AWS D16.6M/D16.6:2018 pdf free download

AWS D16.6M/D16.6:2018 pdf free download.Specification for Robot Arc Welding Training and Testing Cell.
her of programmed positions, or by fully programmable servo motors with freely programmable positions. Larger payload robots can also he used to position workpieces for welding by other robots.
Single-axis positioners are most commonly seen in a “headstock and tailstock” or “trunnion” style configuration with one axis parallel to the ground. In many cases, one axis of rotation is sufficient to provide the robot with access to all the welds in a given part.
Two-axis positioners are commonly seen in an “L-arm” or “skyhook” configuration with two axes of rotation perpendicular to one another. This type of positioner has an L-shaped arm which rotates and carries a platter on the L-arm that provides a second axis of rotation. A variation of this type of positioner is a “drop-center” positioner which is a rotating platter mounted to a dropped-center frame between a headstock and tailstock.
A third axis is often used to raise or lower a two-axis positioner in elevation in order to provide further flexibility for the robot to access welds, optimum welding positions, and operator load/unloading ergonomics.
Positioning equipment can be programed to user-defined positions. It can be used to either position the workpiece for welding in a static condition or moved in coordination with the robotic motion. Moving in coordination with the positioning equipment is a term know as coordinated motion where the positioning equipment moves at the same time as the robotic arm. This can he done for many reasons including improvement of robotic productivity/efficiency or to keep a weld in the optimum welding position (IF or IG).
6.3.4 The CRAW cell should be designed to allow convenient space between the instructor and the student during the hands on robot weld program instruction.
6.3.5 The use of some form of remote enable shall be maintained when more than one person is required to occupy the restricted space of the robot.
6.3.6 The cell shall be equipped with some form of Human Machine Interface (HMI) to allow for the safe and cftident use of the system. The robot teach pendant can typically be used as the HMI.
6.3.7 The cell shall have a means to render equipment incapable of inadvertent release of energy from sources such as electrical, mechanical, pneumatic and hydraulic during periods of maintenance or servicing. AWS D16.6M/D16.6:2018 pdf free download.

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