KUKA System Technology

[Link] Advanced 3.7

For KUKA System Software 8.6 and 8.7

Issued: 02.11.2023
KST ArcTech Advanced 3.7 V1
KUKA Deutschland GmbH
[Link] Advanced 3.7

© Copyright 2023
KUKA Deutschland GmbH
Zugspitzstraße 140
D-86165 Augsburg
Germany

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties
without the express permission of KUKA Deutschland GmbH.
Other functions not described in this documentation may be operable in the controller. The user
has no claims to these functions, however, in the case of a replacement or service work.
We have checked the content of this documentation for conformity with the hardware and soft-
ware described. Nevertheless, discrepancies cannot be precluded, for which reason we are not
able to guarantee total conformity. The information in this documentation is checked on a regu-
lar basis, however, and necessary corrections will be incorporated in the subsequent edition.
Subject to technical alterations without an effect on the function.
KIM-PS5-DOC
Translation of the original documentation

Publication: Pub KST ArcTech Advanced 3.7 (PDF) en

PB22983

Book structure: KST ArcTech Advanced 3.7 V1.1

BS19770

Version: KST ArcTech Advanced 3.7 V1

2/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Contents

1 Introduction.............................................................................................. 7
1.1 Target group.......................................................................................................... 7
1.2 Industrial robot documentation.............................................................................. 7
1.3 Representation of warnings and notes................................................................. 7
1.4 Terms used............................................................................................................ 8
1.5 Licenses................................................................................................................. 8

2 Product description................................................................................. 9
2.1 Product description................................................................................................ 9
2.2 Features in detail................................................................................................... 9
2.3 Intended use and misuse...................................................................................... 10
2.4 Weave patterns..................................................................................................... 10
2.5 Weave delay (optional)......................................................................................... 13
2.6 Switching the welding parameters (Thermal Control).......................................... 13
2.7 Slope (optional)..................................................................................................... 14
2.8 Advance Arc Start (Optional)................................................................................ 14
2.9 Slope function and motion function at the end of the weld seam (move back)
.............................................................................................................................. 15
2.10 Seam weld enable by PLC (optional)................................................................... 15
2.11 Monitoring the seam length (optional).................................................................. 15
2.12 Stitch welding function (optional).......................................................................... 16
2.13 Advanced Error Recovery strategy (optional)...................................................... 16
2.14 Fronius TPS/i TWIN interface............................................................................... 17

3 Safety......................................................................................................... 19

4 Installation................................................................................................ 21
4.1 System requirements............................................................................................. 21
4.2 Installing via smartHMI.......................................................................................... 21
4.2.1 Installing or updating ArcTech Advanced............................................................. 21
4.2.2 Uninstalling ArcTech Advanced............................................................................. 22
4.3 Installing via WorkVisual....................................................................................... 23
4.3.1 Installing or updating ArcTech Advanced............................................................. 23
4.3.2 Uninstalling ArcTech Advanced............................................................................. 24

5 Start-up...................................................................................................... 25
5.1 Overview of software start-up............................................................................... 25

6 Configuration............................................................................................ 27
6.1 Adding and configuring multiple power sources.................................................. 27
6.2 Activating additional options.................................................................................. 28
6.2.1 Settings for seam length monitoring..................................................................... 32
6.3 Configuring ignition and weld error strategies...................................................... 33
6.4 Configuring the range of values for the weave delay.......................................... 34
6.5 Configuring the slope option................................................................................. 35
6.6 Configuring inputs and outputs for the seam number......................................... 35
6.7 Transferring the weld velocity to the power source............................................. 37
6.8 Configuring inputs and outputs for seam length monitoring................................ 38

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 3/132

[Link] Advanced 3.7

6.9 Configuring weld modes........................................................................................ 40

6.10 Structure of a weave pattern................................................................................ 40
6.10.1 Defining weave patterns........................................................................................ 40
6.10.2 Triangle weave pattern.......................................................................................... 42
6.10.3 Spiral weave pattern............................................................................................. 43

7 Operation.................................................................................................. 47
7.1 Status keys............................................................................................................ 47
7.2 Optimizing parameters online............................................................................... 48
7.2.1 Instructions for online optimization....................................................................... 50
7.3 Optimizing data sets offline................................................................................... 52
7.4 Editing weld data sets........................................................................................... 53
7.5 Parameter optimization.......................................................................................... 53
7.6 Displaying additional parameters in the inline line............................................... 55
7.7 Transferring programs to a different kinematic system........................................ 57
7.8 Transferring programs to a different kinematic system (Expert mode)............... 59
7.9 Defining reference values for the seam length monitoring.................................. 60

8 Programming............................................................................................ 63
8.1 Selecting the power source in the inline form..................................................... 63
8.2 Programming a weave delay................................................................................ 64
8.3 Advanced settings for ArcTech Advanced............................................................ 65
8.3.1 Option window “Error strategies”.......................................................................... 67
8.3.2 Option window “Sloping settings” (LIN, CIRC)..................................................... 68
8.3.3 Option window “Sloping settings” (SPLINE)......................................................... 70
8.3.4 Option window “OnTheFly settings” (LIN, CIRC)................................................. 72
8.3.5 Option window “OnTheFly settings” (SPLINE)..................................................... 73
8.3.6 Programming an Advance Arc Start..................................................................... 74
8.4 Programming Thermal Control.............................................................................. 75
8.5 Programming the seam weld enable by PLC...................................................... 77
8.5.1 Option window “Seam data”................................................................................. 78
8.6 Programming seam length monitoring.................................................................. 78
8.6.1 Option window “Seam data”................................................................................. 79
8.6.2 Option window “Seam length monitoring”............................................................ 80
8.7 Grouping weld seams (Advanced Error Recovery strategy)................................ 81
8.7.1 Inline form “ARC group start”............................................................................... 81
8.7.2 Inline form “ARC group end”................................................................................ 82
[Link] Creating subprograms........................................................................................... 83
8.8 Grouping weld seams to a part............................................................................ 83
8.8.1 Inline form “ARC component start”....................................................................... 84
8.8.2 Inline form “ARC component end”........................................................................ 84
8.9 Programming the tack welding function............................................................... 85

9 Simulation................................................................................................. 89
9.1 Process settings in [Link].............................................................................. 89
9.1.1 Settings for seam length monitoring..................................................................... 92
9.2 Adding Error strategies in [Link]................................................................... 93
9.3 Configuring inputs and outputs for the seam number in [Link]................... 94
9.4 Configuring inputs and outputs for seam length monitoring in [Link]......... 95
9.5 Grouping weld seams in [Link] (Advanced Error Recovery strategy)......... 95

4/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

9.6 Grouping weld seams to a part in [Link]..................................................... 97

9.7 Configure the range of values for the weave delay in [Link]...................... 98
9.8 Configuring Slope in [Link]........................................................................... 98
9.9 Transferring the weld velocity to the power source in [Link]....................... 98
9.10 Statement Properties in [Link]...................................................................... 99

10 Diagnosis.................................................................................................. 105
10.1 Displaying data from a LOG file in the ArcTech log viewer................................ 105
10.1.1 Loading data from the robot controller into the log viewer.................................. 106
10.1.2 Loading locally saved data into the log viewer.................................................... 106
10.2 Panning and zooming the log viewer display...................................................... 107
10.3 Creating a screenshot of the display in the ArcTech log viewer......................... 107
10.4 Configuring the display of data in the ArcTech log viewer.................................. 108
10.4.1 Using the search function in the ArcTech log viewer.......................................... 110
10.5 Configuring the display of parameters in the ArcTech log viewer....................... 111
10.5.1 Modifying display options for parameters............................................................. 113

11 Messages.................................................................................................. 115
11.1 Information about the messages.......................................................................... 115
11.2 System messages from module: ARC................................................................. 115
11.2.1 ARC 10134............................................................................................................ 115
11.2.2 ARC 10135............................................................................................................ 118
11.2.3 ARC 10139............................................................................................................ 119
11.2.4 ARC 10135............................................................................................................ 122
11.2.5 ARC 10156............................................................................................................ 123

12 Appendix................................................................................................... 125
12.1 User-specific functions.......................................................................................... 125
12.1.1 ATA_UsrPreStrikeParams...................................................................................... 125
12.1.2 ATA_UsrPostStrikeParams.................................................................................... 125
12.1.3 ATA_UsrPre_ArcOn............................................................................................... 125
12.1.4 ATA_UsrPost_ArcOn.............................................................................................. 126
12.1.5 ATA_UsrPre_ArcSwi.............................................................................................. 126
12.1.6 ATA_UsrPost_ArcSwi............................................................................................. 127
12.1.7 ATA_UsrPre_ArcOff............................................................................................... 127
12.1.8 ATA_UsrPost_ArcOff.............................................................................................. 127
12.1.9 ATA_UsrPreRestart................................................................................................ 128
12.1.10 ATA_UsrPostRestart.............................................................................................. 128
12.1.11 ATA_UsrErrorHandle.............................................................................................. 128
12.1.12 ATA_UsrPreSplStart............................................................................................... 128
12.1.13 ATA_UsrPostSplStart............................................................................................. 128

13 KUKA Service........................................................................................... 129

13.1 Requesting support............................................................................................... 129
13.2 KUKA Customer Support...................................................................................... 129

Index 131

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 5/132

[Link] Advanced 3.7

6/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Introduction
1 Introduction

1.1 Target group

This documentation is aimed at users with the following knowledge and

skills:

• KRL programming skills

• Knowledge of the robot controller system
• Knowledge of arc welding
• Knowledge of weld power sources

For optimal use of KUKA products, we recommend the training courses

offered by KUKA College. Information about the training program can be
found at [Link] or can be obtained directly from our subsidia-
ries.

1.2 Industrial robot documentation

The industrial robot documentation consists of the following parts:

• Documentation for the robot arm

• Documentation for the robot controller
• Documentation for the smartPAD-2 or smartPAD pro (if used)
• Documentation for the System Software
• Instructions for options and accessories
• Spare parts overview in KUKA Xpert
Each set of instructions is a separate document.

1.3 Representation of warnings and notes

Safety

These warnings are provided for safety purposes and must be observed.
DANGER
These warnings mean that it is certain or highly probable that death or
severe injuries will occur, if no precautions are taken.

WARNING
These warnings mean that death or severe injuries may occur, if no
precautions are taken.

CAUTION
These warnings mean that minor injuries may occur, if no precautions
are taken.

NOTICE
These warnings mean that damage to property may occur, if no precau-
tions are taken.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 7/132

Introduction [Link] Advanced 3.7

These warnings contain references to safety-relevant information or gen-

eral safety measures.
These warnings do not refer to individual hazards or individual precau-
tionary measures.

This warning draws attention to procedures which serve to prevent or rem-

edy emergencies or malfunctions:
SAFETY INSTRUCTION
The following procedure must be followed exactly!

Procedures marked with this warning must be followed exactly.

Notices

These notices serve to make your work easier or contain references to

further information.
Tip to make your work easier or reference to further information.

1.4 Terms used

Term Description

Weld fault A weld error occurs when the arc fails on the weld seam once the
ignition process is completed and the arc is stable.

PLC Programmable Logic Controller

Ignition fault An ignition fault occurs if the arc cannot be ignited or does not re-
main stable after ignition.

1.5 Licenses

The KUKA license conditions and the license conditions of the open-
source software used can be found in the following folders:
• Under .\LICENSE on the data storage medium with the installation
files of the KUKA software
• On the KUKA smartHMI, in the main menu under Help > Info, tab Li-
censes
• Under D:\KUKA_OPT\Option package name\LICENSE on the robot
controller
• In the license folder under the name of the option package in the Op-
tions catalog in WorkVisual

Further information about open-source licenses can be requested from

the following address: opensource@[Link]

8/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Product description
2 Product description

2.1 Product description

Description

[Link] Advanced 3.7 is an add-on option package for arc welding

applications. [Link] Advanced 3.7 expands the [Link] Ba-
sic option package with additional functions for solving more challenging
welding tasks.

Functions

• Additional functions for the realization of demanding welding tasks

• Delayed weaving of symmetrical and non-symmetrical weave patterns
for producing welded joints that meet the highest metallurgical require-
ments
• Gradual switching of the weld parameters (sloping) for harmonious
transition of the heat-affected zone
• Programming the cyclical switching of up to 3 welding data sets for
optimized heat input and improved gap bridging
• Optimizing welding applications in teach and production mode
• Cycle-time-optimized Advanced Error Recovery strategy
• Cycle time optimization of the start and end sequences of weld seams
by on-the-fly activation and deactivation of the arc
• Assurance of the specified weld seam length by monitoring the real
weld seam length
• Graphical and tabular representation of recorded data in the ArcTech
log viewer for quick and easy error analysis

2.2 Features in detail

• Configuration of Fronius TWIN power sources with a single click

• Configuration of up to 4 power sources
• Expansion of the configurable weld modes per power source from 4 to
16
• Expansion of weave patterns from 2 to 10
• Creation of user-specific weave patterns
• Slope function for the weave amplitude, the robot velocity and all con-
figurable channels
• Slope function at the end of the weld seam to optimize heat input and
weld seam geometry
• Tack welding function for making weld seams of equal length at regu-
lar intervals
• Strategy for returning along the weld seam for a metallurgically opti-
mized end crater position
• Transfer of weld velocity to the power source
• Cycle time optimization of the welding process via Advance Arc Start
• Expansion of the configurable error strategies for ignition and weld er-
rors from 1 to 10
• Advanced Error Recovery strategy
‒ Controlled return motion in the event of a fault
‒ Controlled motion to a user-defined service position

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 9/132

Product description [Link] Advanced 3.7

‒ Positioning motion with increased velocity in dry run

‒ Resumption of the weld seam at the error position
‒ With prioritized process continuation in a RoboTeam group
• Versatile interfacing to the higher-level cell/line controller
‒ Seam weld enable by higher-level controller
‒ Mode-specific decision in error situations
• Mirroring of welding programs on external axes
• Call of user-specific functions possible in many process steps

2.3 Intended use and misuse

Intended use

The ArcTech Advanced option package is intended exclusively for arc

welding and for use in an industrial environment.
The option package must only be operated in compliance with the speci-
fied system requirements.
(>>> 4.1 "System requirements" Page 21)
Operation in accordance with the intended use also requires compliance
with the configuration instructions in this documentation and constant ob-
servance of the assembly and operating instructions for the cell compo-
nents used.

Misuse

Any use or application deviating from the intended use is deemed to be

misuse and is not allowed. The manufacturer cannot be held liable for any
resulting damage. The risk lies entirely with the user.
Examples of such misuse include:
• Use in a cell which does not conform to the applicable safety regula-
tions for arc welding
• Use in a non-industrial environment

2.4 Weave patterns

ArcTech Advanced expands the number of weave patterns to a total of

10. 8 weave patterns are predefined and 2 can be freely defined.
• The weave pattern is constantly repeated when weaving is carried out.
• The shape of the weave pattern is dependent on the weld velocity.
The higher the weld velocity, the more the weave pattern will be ap-
proximated. The approximate positioning may result in it not being
possible to reach the specified weave amplitude. The amplitude is
then adapted accordingly so that the specified weave length is main-
tained.
• The shape of the weave pattern is also dependent on the values de-
fined by the user for weave length and amplitude.

10/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Product description
Fig. 2-1: Parameters of a weave pattern

1 Weave length, Triangle (= 1 oscillation; length of the path from

the start point to the end point of the pattern)
2 Amplitude (= lateral deflection)

• The duration of a weld seam is independent of the weave length and

amplitude of the weave pattern.
• The Trapezoid, Spiral and Double 8 weave patterns result in a non-
uniform weld velocity. This can vary during one period between the set
path velocity and a multiple of it, depending on the relation of the am-
plitude to the weave length.
• The Asymmetrical trapezoid weave pattern has an aspect ratio of 1:2.
This means that one side is twice as long as the other side.

Name Weave pattern

No weaving

No deflection of the welding torch

Triangle

Deflection of the welding torch in 1 direction

Trapezoid

Deflection of the welding torch in 1 direction

Asymmetrical trape-
zoid

Deflection of the welding torch in 1 direction

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 11/132

Product description [Link] Advanced 3.7

Name Weave pattern

Spiral

Deflection of the welding torch in 2 directions

(amplitude = weave length/2)
Double 8

Deflection of the welding torch in 2 directions

On seam Forward and backward motion along the weld
seam

Deflection of the welding torch in 1 direction

Edge weave bottom Horizontal edge weaving (TIG welding)

Deflection of the welding torch in 2 directions

Edge weave top Vertical edge weaving (TIG welding)

Deflection of the welding torch in 2 directions

12/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Product description
Name Weave pattern
User-defined1 Freely-definable weave pattern
Deflection of the welding torch in up to 2 direc-
tions
User-defined2 Freely-definable weave pattern
Deflection of the welding torch in up to 2 direc-
tions

2.5 Weave delay (optional)

In the case of delayed mechanical weaving, the welding torch stops for a
defined time at the maximum lateral deflection of a weave pattern.
The Weave delay option is primarily used for thick sheet welding with rel-
atively slow path velocities (without through-the-arc weave sensor), e.g. to
enable welding of vertical-up welds or, in the case of large seams, to in-
troduce sufficient weld metal and energy to the weld seam without leaving
undercutting at the edges of the workpiece. In this way, the quality and
appearance of the seams can be optimized so that the seams no longer
corrode so easily or require finishing.
For mechanical weave delay, only the weave patterns Triangle, Edge
weave bottom and Edge weave top are available. These weave patterns
can have 2 different delay times, one for the deflection in the positive Y
direction of the TTS and the other for the deflection in the negative Y di-
rection of the TTS.

Fig. 2-2: Weave plane of the welding torch at 0 degrees

For the weave patterns Trapezoid and Asymmetrical trapezoid, a dwell

time can be set instead of the delay time. For this, the robot dwells in its
weave motion at the position with the maximum deflection for the defined
time. There are two different delay times here too: one for the deflection
in the positive Y direction of the TTS and the other for the deflection in
the negative Y direction of the TTS. In contrast to the delay time, the ro-
bot continues with its motion while it dwells in the deflection. Furthermore,
the shape of the weave pattern can be changed with the dwell time. This
is not possible in the case of the delay time.
Further information about the weave patterns and TTS can be found in
the [Link] Basic documentation.

2.6 Switching the welding parameters (Thermal Control)

Description

The Thermal Control option can be used to switch process parameters

cyclically during welding. If the option is activated, the weld data set is

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 13/132

 [Link] Advanced 3.7

changed as soon as the configured threshold value has been reached.

Product description

The switch depends on the position of the TCP. Position-related switching

enables targeted control of heat input and penetration as well as improved
gap bridging.
The option is programmed using additional parameters in the ARC ON
and ARC SWITCH inline forms. Thermal Control allows for switching be-
tween the configured weld data set (WDAT) and up to 2 additional
welding data sets (TCDAT1 and TCDAT2).
The weld seam can be executed either with or without a weave pattern.
For execution with a weave pattern, the Triangle and Trapezoid weave
patterns are available. If the weld seam is executed with a weave pattern,
2 additional weld data sets are available. If no weave pattern has been
programmed, it is possible to switch to one additional weld data set.
The switching point can be individually set for each additional weld data
set.
The welding equipment that may be used with this option may vary de-
pending on the country.

2.7 Slope (optional)

As standard, the system switches to the weld parameters without a transi-

tion after the ignition time has elapsed, e.g. weld voltage and wire feed
are activated at the same time as the start of the robot motion. Switching
between the weld parameters of different seam sections is equally abrupt.
In certain welding applications, e.g. aluminum welding, a gradual transition
can improve the welding results. The Slope option allows the welding volt-
age and wire feed to be increased or decreased relative to the path within
a defined distance. If, for example, the start voltage is 30 V and the weld
voltage is 26 V, the voltage is changed linearly from 30 V to 26 V over
the defined distance.
When welding with short distances between points, it can happen that a
gradual transition is no longer possible and the robot controller forces
exact positioning. It is advisable to reduce the defined distance for these
seam sections or set it to zero.

2.8 Advance Arc Start (Optional)

Description

The Advance Arc Start option can be used to start the welding process
even prior to the ARC ON. In this case, the robot sends the signal to start
the process before reaching the ARC ON position. This makes it possible,
for example, to compensate for mechanical reaction times of the wire
feeder or the signal propagation time for field bus communication.
Before the robot starts welding, it waits at the ARC ON position for confir-
mation that the arc is stable.
The time for the Advance Arc Start is set once globally. This time can be
individually adapted for every ARC ON.
The option can be disabled in the inline form for individual weld seams.

14/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Product description
2.9 Slope function and motion function at the end of the weld seam (move
back)

Description

The Move back at ArcOff option makes it possible to move back a spe-
cific distance once ARC OFF is reached. If the option is activated, this
distance can be set individually in the inline forms ARC OFF and
ARC SPLINE. The velocity while moving back corresponds to the weld ve-
locity.
Move back at ArcOff can be combined with the Slope option.
If a CIRC or SCIRC motion is used, the following must be taken into
consideration:
With these types of motion, the backward motion is executed as a linear
motion. To prevent a collision between the welding torch and the work-
piece, the distance of the backward motion must be reduced to a mini-
mum. Alternatively, the weld seam can be programmed as an ARC
spline block. In this case, the backward motion is executed as a circle.

If the SeamTech Tracking option package is used in combination with

ArcTech Advanced, the Move back at ArcOff option must not be used.
With this combination, correct program execution cannot be guaranteed.

2.10 Seam weld enable by PLC (optional)

If the Seam weld enable by PLC option is activated, the robot controller
sends the seam number to a higher-level controller for enabling. As soon
as the higher-level controller returns the same seam number, the weld is
enabled and the program is resumed.
The higher-level controller can also signal to the robot controller via the
Weld keyswitch input that the seam is to be executed with the welding
process active or in a dry run.

2.11 Monitoring the seam length (optional)

The Seam length monitoring option can be used to monitor the length of
weld seams. This checks at ARC OFF whether the length of a weld seam
is within the configured tolerance range. The result of the check is dis-
played by means of a message in the smartHMI message window.
If the length of the weld seam is outside of the tolerance range, a mes-
sage is generated. The robot controller can use the communication inter-
face to inform a higher-level controller that a message is present. The
higher-level controller can then respond to the message.
The seam length monitoring is possible for both individual weld seams
and all weld seams belonging to a part.
The Seam length monitoring option can also be used together with op-
tion packages that change the seam length, e.g. [Link] or
[Link] Tracking. If such option packages are used, it is advisa-
ble to take the expected deviation between the taught path and the path
actually traveled into consideration when configuring the tolerance range.
Since the seam length is checked at ARC OFF, a block selection to a
different point in the program inside or outside the seam results in a
seam length monitoring error. This is also the case if an interruption of
the welding process results in the seam not being completely welded.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 15/132

Product description [Link] Advanced 3.7

2.12 Stitch welding function (optional)

Tack welds are used to hold metal parts together before final welding. To
prevent the tack welding seam from being seen in the final weld seam, it
should be shorter than the final weld seam.
Tack welds are ideal for precise welding work and are made at regular in-
tervals along the workpieces. This distance is normally between 25 and
30 mm and should be sufficient to affix the metal parts. However, it should
also be small enough to remain unobtrusive in the final weld seam.
The Stitch welding function option can be used to make weld seams of
equal length at regular intervals. Either a distance over which the weld
seams are uniformly distributed or a constant step length can be
specified. The step length consists of the length of the weld seam and the
length of the interrupted spacing. If the step length is specified, the length
of the last weld seam may deviate from the specified length, as this is ter-
minated at the ARC OFF position.
The option is programmed in the inline form ARC BLOCK.

2.13 Advanced Error Recovery strategy (optional)

The Advanced Error Recovery strategy is used for error situations in

which the welding process cannot be automatically restored. The strategy
is used to move the robot in a controlled manner to a service position
(e.g. for cleaning the torch or changing the current nozzle) defined by the
user. The robot then moves back to the position where the error occurred
and resumes the welding process. In order to be able to use the Ad-
vanced Error Recovery strategy, the weld seams must be grouped.
The Advanced Error Recovery strategy can be used for spline motions in
conjunction with the BackToSplineStart ignition error strategy. For spline
motions, the strategy can also be used in conjunction with the MoveBack-
ward weld error strategy.
For use of the Advanced Error Recovery strategy in a RoboTeam group:
The behavior is the same for all RoboTeam participants. If a seam fault
occurs with one RoboTeam participant, all RoboTeam participants stop
and perform the configured error strategy. If ignition is not possible, all Ro-
boTeam participants perform the Advanced Error Recovery strategy.
If, however, the Do not execute error strategy until end of seam option
has been selected, the welding process of the other RoboTeam partici-
pants is not interrupted by a seam fault. In this case, the robot behavior
depends on whether CP motions, individual spline motions or a spline
block are used:
• In the case of CP motions and individual spline motions:
All robots move to the end of the seam and then to the service posi-
tion. There, it is possible to select whether a seam should be repeated
or skipped. If the seam is repeated, the robot with which the fault oc-
curred ignites its arc. The other robots continue the weld path without
welding.
• In the case of a spline block:
All robots move to the end of the seam and then backwards to the po-
sition where the fault occurred. The robot with which the fault occurred
carries out the configured ignition error strategy. If ignition is not possi-
ble, all robots move to the service position. The procedure to be adop-
ted once the service position has been reached depends on the set-
ting of the parameter Advanced error decisions in the ArcTech Ad-
vanced options.

16/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Product description
If the SeamTech Tracking and/or ArcSense option packages are instal-
led, the Advanced Error Recovery strategy cannot be used.

Fig. 2-3: Sequence chart for the Advanced Error Recovery strategy

2.14 Fronius TPS/i TWIN interface

Description

[Link] Advanced 3.7 contains preconfigured power source cata-

logs for controlling Fronius TPS/i TWIN systems. These involve a tandem
welding process with two power sources, one interface and one welding
torch. The welding torch has two contact tubes (“Lead” and “Trail”) that
are insulated from one another. The high deposition efficiency of 2
welding wires can be exploited in terms of weld velocity or filling volume.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 17/132

Product description [Link] Advanced 3.7

18/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Safety
3 Safety
This documentation contains safety instructions which refer specifically to
the option package described here.
The fundamental safety information for the industrial robot can be found in
the “Safety” chapter of the Operating and Programming Instructions for
System Integrators or the Operating and Programming Instructions for End
Users.
Comply with safety-relevant information
The safe use of this product requires knowledge of and compliance with
fundamental safety measures. Death, severe injuries or damage to prop-
erty may otherwise result.
• The “Safety” chapter in the operating and programming instructions
of the KUKA System Software (KSS) must be observed.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 19/132

Safety [Link] Advanced 3.7

20/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Installation
4 Installation
The option package can either be installed on the robot controller via the
smartHMI or via WorkVisual.

4.1 System requirements

Hardware

• KR C4 or KR C5 robot controller
• Laptop/PC

Software

KR C4 robot controller:
• KUKA System Software 8.6
• [Link] Basic 3.7
KR C5 robot controller:
• KUKA System Software 8.7
• [Link] Basic 3.7
Laptop/PC:
• WorkVisual 6.0
• Optional: [Link] 4.3

Compatibility

• [Link] Advanced 3.7 can be installed on a robot controller

with KUKA System Software 8.6 or 8.7 together with the following op-
tion packages:
‒ [Link] Multilayer 3.7
‒ [Link] 3.7
‒ [Link] AdaptiveWelding 3.7
‒ [Link] Tracking 4.0
‒ [Link] Finding 4.0
‒ [Link] 3.6
‒ [Link] 3.1
• [Link] Advanced 3.7 is not backward compatible with
[Link] Basic 3.6.

4.2 Installing via smartHMI

4.2.1 Installing or updating ArcTech Advanced

It is advisable to archive all relevant data before updating a software

package.

Precondition

• User rights: Function group General configuration

But at least the user group “Expert”
• T1 or T2 mode
• No program is selected.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 21/132

Installation [Link] Advanced 3.7

• USB stick with the option package (KOP file)

NOTICE
Data loss due to USB sticks from third-party manufacturers
Data may be lost if USB sticks from manufacturers other than KUKA
are used for activities on the robot controller.
• For activities on the robot controller requiring a USB stick, use a
KUKA stick.
The KUKA sticks are validated for use with the robot controller.

Procedure

1. Connect the USB stick to the robot controller or smartPAD.

2. In the main menu, select Start-up > Additional software.
3. Press New software: The entry ArcTechAdvanced must be displayed
in the Name column and drive E:\ or K:\ in the Path column.
If not, press Refresh.
4. If the specified entries are now displayed, continue with step 5.
Otherwise, the path from which the software is to be installed must be
configured first:
a. Press the Configure button.
b. Select a line in the Installation paths for options area.
Note: If the line already contains a path, this path will be overwrit-
ten.
c. Press Path selection. The available drives are displayed.
d. If the stick is connected to the robot controller: Select E:\.
If the stick is connected to the smartPAD: K:\ instead of E:\
e. Press Save. The Installation paths for options area is displayed
again. It now contains the new path.
f. Mark the line with the new path and press Save again.
5. Set the check mark next to ArcTechAdvanced and press Install.
Confirm the installation query with OK.
6. The request for confirmation Do you want to activate the project […]?
is displayed. The active project is overwritten during activation. If no
relevant project will be overwritten: Answer the query with Yes.
7. An overview of the changes and a request for confirmation are dis-
played. Answer this with Yes. The option package is installed.
8. Remove the stick.

LOG file

A LOG file is created under C:\KRC\ROBOTER\LOG.

4.2.2 Uninstalling ArcTech Advanced

It is advisable to archive all relevant data before uninstalling a software

package.

Precondition

• User rights: Function group General configuration

But at least the user group “Expert”
• T1 or T2 mode
• No program is selected.

22/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Installation
Procedure

1. In the main menu, select Start-up > Additional software.

2. Set the check mark next to ArcTechAdvanced and press Uninstall.
Answer the request for confirmation with Yes.
3. Answer the request for confirmation Do you want to activate the
project […]? with Yes.
4. An overview of the changes and a request for confirmation are dis-
played. Answer this with Yes. The option package is uninstalled.

LOG file

A LOG file is created under C:\KRC\ROBOTER\LOG.

4.3 Installing via WorkVisual

4.3.1 Installing or updating ArcTech Advanced

Description

The option package is installed in WorkVisual and added to the project.

During project deployment, the option package is automatically installed
on the robot controller.
It is advisable to archive all relevant data before updating a software
package.

Precondition

• User group “Expert”

• T1 or T2 mode
• No program is selected.
• Network connection to the robot controller
• The option package is available as a KOP file.

Procedure

1. Install the ArcTechAdvanced option package in WorkVisual.

2. Load the project from the robot controller.
3. Insert the ArcTechAdvanced option package into the project.
4. Configure the option package in WorkVisual.
5. Deploy the project from WorkVisual to the robot controller and activate
it.
6. The request for confirmation Do you want to activate the project […]?
is displayed on the smartHMI. The active project is overwritten during
activation. If no relevant project will be overwritten: Answer the query
with Yes.
7. An overview with the changes and a request for confirmation are dis-
played on the smartHMI. Answer this with Yes. The option package is
installed.

Information about procedures in WorkVisual is contained in the

[Link] documentation.

LOG file

A LOG file is created under C:\KRC\ROBOTER\LOG.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 23/132

Installation [Link] Advanced 3.7

4.3.2 Uninstalling ArcTech Advanced

It is advisable to archive all relevant data before uninstalling a software

package.

Precondition

• User group “Expert”

• T1 or T2 mode
• No program is selected.
• Network connection to the robot controller

Procedure

1. Load the project from the robot controller.

2. Remove the ArcTechAdvanced option package from the project. A
window with modifications is displayed.
3. Deploy the project from WorkVisual to the robot controller and activate
it.
4. Answer the request for confirmation Do you want to activate the
project […]? on the smartHMI with Yes.
5. An overview with the changes and a request for confirmation are dis-
played on the smartHMI. Answer this with Yes. The option package is
uninstalled.

Information about procedures in WorkVisual is contained in the

[Link] documentation.

LOG file

A LOG file is created under C:\KRC\ROBOTER\LOG.

24/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Start-up
5 Start-up

5.1 Overview of software start-up

The following is an overview of the tasks that are required for the
software start-up of the option package. Complete start-up of the robot
arm is assumed.
This overview also provides guidelines for the general software start-up,
as complete start-up is required in order to be able to use the option
package. Further information is contained in the operating and program-
ming instructions for the System Software, WorkVisual and ArcTech Basic.

System Software

Step Description
1 Switching on the robot controller with the kinematic system for the first time

2 Performing general robot start-up

• Start-up wizard
• Mastering
• Software limit switches
• Performing TOOL calibration
• Load data determination
• Performing BASE calibration

WorkVisual

Step Description
3 Establishing a connection to the robot controller

4 Transferring and activating a project

• Loading the project from the robot controller

• Assigning the robot controller to the real robot controller
5 Performing the configuration in WorkVisual

• Cell configuration
• Editing the local safety configuration
• Configuring the field buses
• Definition of long texts
6 Transferring the project to the robot controller

ArcTech Basic

Step Description
7 Installing or updating ArcTech Basic

8 Transferring and activating a project

• Loading the project from the robot controller

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 25/132

Start-up [Link] Advanced 3.7

Step Description
9 Configuring ArcTech Basic in WorkVisual

• Adding the power source to the project

• Configuring the weld power source in the ArcTech Editor:
‒ Define the general parameters of the power source.
‒ Configure the power source I/Os.
‒ Optional: Create the task-specific data sets on the basis of the standard da-
ta sets.
• Optional for synchronous welding in RoboTeam: Changing the welding master
in the ArcTech Editor
• Optional: Changing the process options in the ArcTech Editor
• Optional: Configure the ignition and weld error strategies in the ArcTech Edi-
tor.
10 Transferring the project to the robot controller

ArcTech Advanced

Step Description
11 Installing or updating ArcTech Advanced
(>>> 4.3.1 "Installing or updating ArcTech Advanced" Page 23)
12 Transferring and activating a project

• Loading the project from the robot controller

13 Configuring ArcTech Advanced in WorkVisual

• Adding and configuring multiple power sources (optional)

(>>> 6.1 "Adding and configuring multiple power sources" Page 27)
• Activating additional options in the ArcTech Editor (optional)
(>>> 6.2 "Activating additional options" Page 28)
• Configuring the ignition and weld error strategies in the ArcTech Editor. (op-
tional)
(>>> 6.3 "Configuring ignition and weld error strategies" Page 33)
• Configuring the range of values for the weave delay in the ArcTech Editor (op-
tional)
(>>> 6.4 "Configuring the range of values for the weave delay" Page 34)
• Configuring the slope function in the ArcTech Editor (optional)
(>>> 6.5 "Configuring the slope option" Page 35)
• Configuring the inputs and outputs for the seam number in the ArcTech Editor
(optional)
(>>> 6.6 "Configuring inputs and outputs for the seam number" Page 35)
• Transferring the weld velocity to the power source (optional)
(>>> 6.7 "Transferring the weld velocity to the power source" Page 37)
• Configuring the inputs and outputs for the seam length monitoring (optional)
(>>> 6.8 "Configuring inputs and outputs for seam length monitoring" Page 38)
14 Transferring the project to the robot controller

15 Programming with inline forms

26/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Configuration
6 Configuration

6.1 Adding and configuring multiple power sources

Description

With ArcTech Advanced, up to 4 power sources can be added to a project

and configured. The power sources can be activated and deactivated via
a switch. At least one power source must always be activated. Once a
power source is added to the project, it is activated by default. Each pow-
er source added receives an ID with which it can be uniquely identified.
If more than 1 power source has been added and ArcTech Advanced is
uninstalled, all power sources are marked with a warning symbol and an
error message is generated. The number of activated power sources
must then be reduced to 1 power source. The user can decide which
power sources should be deactivated.

Precondition

• A project is open.
• ArcTech Editor is open.

Procedure

1. Select the Hardware tab in the Project structure window.

2. Right-click on the robot controller and select Add… in the context
menu.
3. Select the Options tab and the desired power source.
4. Click on Add. The power source is inserted.
The power source can now be renamed. To do this, enter a new
name in the Properties window.

5. Double-click on the power source in the Hardware tab. The ArcTech

Editor for the configuration of this power source opens.
Each power source is configured in a separate editor. This makes it
possible to directly compare the configuration of different power
sources. To do so, arrange the editors (e.g. side by side or one
above the other).

6. Optional: Exchange the information as to which power source is cur-

rently being used with an external device:
[Link] the I/O definition tab in the ArcTech Editor window.
[Link] the Outputs tab.
[Link] PLC (outputs), open the Signals area with the arrow key.
[Link] the signal Power source ID with the corresponding switch
in the Active column and assign an output range.
7. Configure the power source as desired in ArcTech Editor.
The general settings of all power sources that have been assigned
to a robot controller are synchronized. This means that changes to
the general settings are applied to all power sources assigned to the
same robot controller.

8. If necessary, carry out steps 1 to 7 for further power sources.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 27/132

Configuration [Link] Advanced 3.7

Fig. 6-1: Editors arranged one beneath the other for the configuration of power sources

1 Switch for activating/deactivating the power source

2 ID of the power source

6.2 Activating additional options

Description

The process options from ArcTech Basic are expanded by additional op-
tions in ArcTech Advanced.

Precondition

• ArcTech Editor is open.

Procedure

1. Select the General tab.

2. On the Process settings tab, change the desired process options.
3. Save the project to accept the changes made in it.

After the project has been transferred to the robot controller, the addi-
tional ArcTech Advanced options can be changed again via the smartH-
MI: In the main menu, select Configuration > ArcTech > General set-
tings. Carry out the desired changes on the Process settings tab un-
der ArcTech Advanced options.

28/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Configuration
ArcTech Advanced options

Parameter Description
Advanced error Type of application for the Advanced Error Recovery strategy
decisions
• Automatic: The welding process is repeated on this seam.
• Dependent on operating mode: Once the maximum number of ig-
nition errors or welding interruptions has been reached, a dialog is
displayed on the smartPAD in the operating modes T1, T2 and AUT.
In AUT EXT mode, the robot controller sets the PLC cleaning posi-
tion output, thereby requesting a handshake mechanism. By setting
the PLC decision for error recovery strategy (bit-by-bit) input sig-
nal, a higher-level controller can decide whether the seam is skipped
(value = 1) or whether the welding process for this seam is repeated
(value = 2).
• Dialog on smartPAD: Once the maximum number of ignition errors
or welding interruptions has been reached, a dialog is displayed on
the smartPAD. The user can decide whether the welding process for
this seam is to be repeated or whether the seam is to be skipped.
• PLC signals: Once the maximum number of ignition errors or weld-
ing interruptions has been reached, the robot controller sets the PLC
cleaning position output, thereby requesting a handshake mecha-
nism. By setting the PLC decision for error recovery strategy (bit-
by-bit) input signal, a higher-level controller can decide whether the
seam is skipped (value = 1) or whether the welding process for this
seam is repeated (value = 2).
Default: Automatic
In order to be able to use the Advanced Error Recovery strategy, the
weld seams must be grouped:
(>>> 8.7 "Grouping weld seams (Advanced Error Recovery strategy)"
Page 81)
Notice: If Dependent on operating mode or PLC signals has been se-
lected: To allow the higher-level controller to send the decision back to
the robot controller, the PLC decision for error recovery strategy (bit-
by-bit) input must be configured: (>>> 6.6 "Configuring inputs and out-
puts for the seam number" Page 35)
Weave delay Allows the welding torch to stop for a defined time at the maximum lat-
eral deflection of a weave pattern

• Activated: Option is activated.

• Deactivated: Option is deactivated.
Default: Deactivated

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 29/132

Configuration [Link] Advanced 3.7

Parameter Description
Slope Switches between the weld parameters or the robot velocity within a de-
fined distance

• Activated: Option is activated.

• Deactivated: Option is deactivated.
Default: Deactivated
The Slope option cannot be used during online optimization. The param-
eter Behavior for online optimization must therefore be used to define
the behavior of the robot controller during online optimization:

• Slope deactivated: During online optimization, the Slope option is

deactivated.
• OnlineOpt. deactivated: Online optimization is not possible at points
on the welding path at which the Slope option is used.
In order to be able to use the option, it must be activated for the desired
channels or the robot velocity:
(>>> 6.5 "Configuring the slope option" Page 35)
On-the-fly activa- Ignites and deactivates the arc without exact positioning
tion or deactiva-
tion • Activated: Option is activated.
• Deactivated: Option is deactivated.
Default: Deactivated
Notice: It is advisable to adapt the approach velocity to ARC ON and
the motion velocity after ARC OFF to the welding velocity. The correct
velocity units must be observed.
Weld enable by Seam weld enable by higher-level controller
PLC
• Activated: Option is activated.
• Deactivated: Option is deactivated.
Default: Deactivated
Notice: In order for the parameter “Seam number” to be displayed in
the inline form, the inputs and outputs for the seam number must be
configured:
(>>> 6.6 "Configuring inputs and outputs for the seam number"
Page 35)
Transfer process Transfers weld velocity to the power source
velocity
• Activated: Option is activated.
• Deactivated: Option is deactivated.
Default: Deactivated
In order to be able to use the option, it must be configured:
(>>> 6.7 "Transferring the weld velocity to the power source" Page 37)

30/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Configuration
Parameter Description
Seam length Monitors the weld seam length
monitoring
• None: Option is deactivated.
• Seam-specific: The seam length of individual weld seams is moni-
tored.
• Component-specific: The seam length of all weld seams belonging
to a part is monitored.
Default: None
If Seam-specific or Component-specific has been selected, other set-
tings must be made:
(>>> 6.2.1 "Settings for seam length monitoring" Page 32)
If Component-specific is selected:
For communication with the higher-level controller, the corresponding in-
puts and outputs must be configured:
(>>> 6.8 "Configuring inputs and outputs for seam length monitoring"
Page 38)
In order to be able to use the option, it must be programmed:
(>>> 8.6 "Programming seam length monitoring" Page 78)
Advance Arc Start the welding process before reaching the ARC ON position
Start
If the option is activated, the lead time for ignition of the arc can be con-
figured.

• Activated: Option is activated.

• Deactivated: Option is deactivated.
Default: Deactivated
The option can be set individually in the ARC ON inline form:
(>>> 8.3.6 "Programming an Advance Arc Start" Page 74)
Move back at Move back a specific distance at ARC OFF
ArcOff
• Activated: Option is activated.
• Deactivated: Option is deactivated.
Default: Deactivated
The distance the robot is to move back can be set individually in the
ARC OFF or ARC SPLINE inline form:
(>>> 8.3.4 "Option window “OnTheFly settings” (LIN, CIRC)" Page 72)
(>>> 8.3.5 "Option window “OnTheFly settings” (SPLINE)" Page 73)
Thermal Control Modify process parameters cyclically during welding
Depending on the distance or weave deflection, this option can be used
to switch between 2 or more weld data sets during ARC ON.

• Activated: Option is activated.

• Deactivated: Option is deactivated.
The option can be set individually in the inline form:
(>>> 8.4 "Programming Thermal Control" Page 75)
Default: Deactivated

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 31/132

Configuration [Link] Advanced 3.7

Parameter Description
Stitch welding Make weld seams of equal length at regular intervals
function
• Activated: Option is activated.
• Deactivated: Option is deactivated.
The option can be programmed in the ARC BLOCK inline form:
(>>> 8.9 "Programming the tack welding function" Page 85)
Default: Deactivated

6.2.1 Settings for seam length monitoring

Description

If the Seam length monitoring option is activated, the following settings

can be made:
Setting Description
Permissible length Negative maximum value that can be set in the Seam length moni-
undercut toring option window or in the Seam length monitoring window
(weld seam may be shorter by no more than the specified value)
Permissible length Positive maximum value that can be set in the Seam length monitor-
exceeded ing option window or in the Seam length monitoring window (weld
seam may be longer by no more than the specified value)
Process continua- Message generation in the case of seam lengths outside of the toler-
tion despite exceed- ance range
ing the tolerance
• Activated: If the length of the weld seam is outside of the toler-
ance range, a notification message with the current seam length
is generated.
• Deactivated: If the length of the weld seam is outside of the tol-
erance range, an acknowledgement message with the current
seam length is generated.
This setting is only displayed if Seam-specific has been selected.

32/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Configuration
Setting Description
PLC handshake Message generation when using a higher-level controller

• Activated: At the end of every weld seam, a status message with

the current seam length is generated and the robot waits for feed-
back from the higher-level controller. The following status messag-
es are possible:
‒ Current seam: {0} is too short Length: {1} mm. Specified seam
length {2} mm
‒ Seam length cannot be determined. Seam: {0}
‒ Current seam: {0} Length: {1} mm. Specified seam length {2}
mm
‒ Current seam: {0} is too long Length: {1} mm. Specified seam
length {2} mm
The status messages are only generated in AUT and AUT EXT
modes. For start-up purposes, message generation is also possi-
ble in modes T1 and T2. For this, set the variable gArcSeam-
LengthTestMsg to TRUE via the variable display.
• Deactivated: If the length of the weld seam is within the tolerance
range, no message is generated. If the length of the weld seam is
outside of the tolerance range, an acknowledgement message
with the current seam length is generated.
This setting is only displayed if Seam-specific has been selected.
Note: The messages can be evaluated and reset using the communi-
cation interface to the higher-level controller. Further information about
the communication interface to the higher-level controller is contained
in the [Link] Basic documentation.
Handshake at corre- Wait for feedback from higher-level controller
sponding seam end
• Activated: At ARC OFF, the robot waits for feedback from the
higher-level controller before it continues with the next weld seam.
• Deactivated: After ARC OFF, the robot continues with the next
weld seam. If, however, there is no feedback from the higher-level
controller at ARC ON of the next weld seam, the robot waits at
this point.
This setting is only displayed if Seam-specific has been selected.
Note: This setting only has any effect if the PLC handshake setting
is activated.

6.3 Configuring ignition and weld error strategies

Description

If an error occurs during ignition or welding, the welding process is inter-

rupted. The user has the option of configuring up to 10 ignition and weld
error strategies for the application.

Fault situations

• Ignition and weld faults due to defective welding torch and/or welding
equipment
• Ignition and weld faults resulting from workpiece characteristics, e.g.
dirt, gap
• Media or periphery faults, e.g. shielding gas or welding wire not
present

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 33/132

Configuration [Link] Advanced 3.7

• Robot errors (IR_STOPMESS), e.g. in the case of an EMERGENCY

STOP or operator safety violation
• Stop of a program, e.g. by pressing the STOP key on the smartPAD

Precondition

• ArcTech Editor is open.

Procedure

1. Select the General tab.

2. Select the Ignition error strategies or Weld error strategies tab to
configure the desired error strategy.
3. Press to configure further error strategies.
4. Save the project to accept the changes made in it.

Further information about the ignition and weld error strategies can be
found in the [Link] Basic documentation.

6.4 Configuring the range of values for the weave delay

Description

The default values and the ranges of values for the wait times for deflec-
tion in the negative Y direction of the TTS (weave delay left) and for de-
flection in the positive Y direction of the TTS (weave delay right) can be
configured in the data sets. The wait times themselves are set in the
Weaving option window on the robot controller (>>> 8.2 "Programming a
weave delay" Page 64).

Fig. 6-2: Configuring the range of values for the weave delay

Precondition

• The ArcTech Editor is open.

• The Weave delay option is activated.

Procedure

1. Select the Data sets tab.

2. Select the process Welding parameters.
3. Select the desired data set.

34/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Configuration
4. Edit the Weave delay, left and Weave delay, right parameters as re-
quired.
5. Save the project to accept the changes made.

6.5 Configuring the slope option

Description

On the Slope tab, the Slope option can be activated for each channel.
The option can be used to switch between the weld parameters within a
defined distance.
If the option is used at ARC OFF, it is additionally possible to switch be-
tween the weld parameters within a defined time and/or distance.
The option can also be activated for the robot velocity. The robot velocity
can be increased or decreased linearly within a defined distance.

Fig. 6-3: “Slope” tab

Precondition

• The ArcTech Editor is open.

• The Slope option is activated.

Procedure

1. Select the Modes tab.

2. Open the desired weld mode with the arrow key.
3. Select the Slope tab.
4. Activate the desired channels or the robot velocity with the switch in
the Slope active column.
5. Save the project to accept the changes made.

6.6 Configuring inputs and outputs for the seam number

Description

The inputs and outputs for the seam number can be configured on the In-
puts and Outputs tabs. These inputs and outputs are required for seam
weld enable by a higher-level controller.
The input PLC decision for error recovery strategy (bit-by-bit) can also
be configured on the Inputs tab. This is required for the feedback of the
higher-level controller in connection with the Advanced Error Recovery
strategy.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 35/132

Configuration [Link] Advanced 3.7

Fig. 6-4: “Inputs” tab

Fig. 6-5: “Outputs” tab

Precondition

• ArcTech Editor is open.

Procedure

1. Select the I/O definition tab.

2. Select the Inputs tab.
3. Under PLC (inputs), open the Signals area with the arrow key.
4. Activate the signal Seam number from PLC with the corresponding
switch in the Active column and enter the input range for the seam
number.
For the Advanced Error Recovery strategy: Activate the signal PLC
decision for error recovery strategy (bit-by-bit) with the correspond-
ing switch in the Active column and enter the input range for the de-
cision of the higher-level controller.
5. Select the Outputs tab.
6. Under PLC (outputs), open the Signals area with the arrow key.

36/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Configuration
7. Activate the signal Seam number to PLC with the corresponding
switch in the Active column and enter the output range for the seam
number.
8. Save the project to accept the changes made in it.

6.7 Transferring the weld velocity to the power source

This functionality is only available if it is supported by the power source

used.

Description

Transferring the weld velocity to the power source makes it possible to

use the special functions of the power source for correcting the weld pa-
rameters that are dependent on the weld velocity.
In the following cases, the seam may not be welded, or may be welded
incorrectly, if this function is used:
• The function is activated at the power source, but is not configured
or is configured incorrectly.
• The configured gain factor does not match the gain factor of the
power source used.
• The configured signal range does not match the signal range of the
power source used.

Fig. 6-6: Weld velocity to the power source tab

Precondition

• The ArcTech Editor is open.

• The Output process velocity option is activated.

Procedure

1. Select the I/O definition tab.

2. Select the Outputs tab.
3. Under Welding device (outputs), open the Signals area with the ar-
row key.
4. Activate the signal Weld velocity to the power source with the corre-
sponding switch in the Active column and assign an output range to
the signal that has not yet been allocated.
5. Select the Modes tab.
6. Open the desired weld mode with the arrow key.
7. Select the Weld velocity to the power source tab. The number of
bits and the range of values of the robot signals are displayed here for
checking. They are derived from the output range assigned to the sig-
nal Weld velocity to the power source.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 37/132

Configuration [Link] Advanced 3.7

8. Check the values. If a different range of values is desired, assign a

different output range to the signal Weld velocity to the power
source.
9. Optional: Change the unit for the weld velocity.
10. Save the project to accept the changes made in it.

6.8 Configuring inputs and outputs for seam length monitoring

Description

The inputs and outputs for the seam length monitoring can be configured
on the Inputs and Outputs tabs. These inputs and outputs are required
for communication with the higher-level controller.

Fig. 6-7: Inputs tab

38/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Configuration
Fig. 6-8: Outputs tab

Precondition

• ArcTech Editor is open.

Procedure

1. Select the I/O definition tab.

2. Select the Inputs tab.
3. Under PLC (inputs), open the Bits area with the arrow key.
4. Activate the inputs Confirmation, received faulty seam number and
Reset error state with the corresponding switch in the Active column
and assign an address.
5. Under PLC (inputs), open the Signals area with the arrow key.
6. Activate the signal Component ID with the corresponding switch in
the Active column and enter an input range.
7. Select the Outputs tab.
8. Under PLC (outputs), open the Bits area with the arrow key.
9. Activate the outputs Transfer faulty seam number, Faulty seam
number present, Component OK and Component not OK with the
corresponding switch in the Active column and assign an address.
10. Under PLC (outputs), open the Signals area with the arrow key.
11. Activate the signals Error number for seam length and Faulty seam
number with the corresponding switch in the Active column and enter
an output range.
12. Save the project to accept the changes made in it.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 39/132

Configuration [Link] Advanced 3.7

6.9 Configuring weld modes

Description

The user has the option of configuring up to 16 weld modes for the appli-
cation. Different global parameters and I/Os for the power source can be
configured for each weld mode. Task-specific data sets can also be cre-
ated for every weld mode.

Precondition

• ArcTech Editor is open.

Procedure

1. Select the Modes tab.

2. Click on the button to add the desired number of weld modes.

3. Activate the desired weld mode with the switch and open it with the
arrow key. The weld mode is now active and the parameters can be
configured.

Further information about the weld modes and the configuration can be
found in the [Link] Basic documentation.

If more than 4 weld modes have been created and ArcTech Advanced
is uninstalled, all weld modes are marked in red. The number must be
reduced back down to 4 weld modes. The user can decide which weld
modes should be removed.

6.10 Structure of a weave pattern

The weave pattern is a function y(x) that can comprise up to 30 points.

• X and Y coordinates must be specified for every point on the curve.

• The start point of the function on the X axis must be located at X = 0.
• The end point of the function on the X axis must be located at X = 1.
• The minimum values on the Y axis must be Y = -1.
• The maximum values on the Y axis must be Y = 1.
• All other points can be situated anywhere within these limits.

If the limit values on the X and Y axes deviate from this, the
dimensions of the weld seam will also deviate from the parameters de-
fined in the Weaving option window.

The structure of 2 predefined weave patterns is explained below. On the

basis of these explanations, users can define their own weave patterns or
adapt predefined weave patterns to the user-specific process require-
ments.

6.10.1 Defining weave patterns

Precondition

• The Navigator is displayed.

• User group “Expert”
• No program is selected.

40/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Configuration
• Submit interpreter is deselected.

Procedure

1. Open the file [Link] in the directory C:\KRC\ROBOT-

ER\KRC\R1\TP\ArcTech\ArcUser.
2. Define the desired weave patterns in the folds UserFigure1 Array[21]
Name = UserDefined1 and UserFigure2 Array[22] Name = UserDe-
fined2.
3. Close the file and answer the request for confirmation with Yes.
The pattern can now be selected in the Weaving option window under the
name UserDefined1 (User) or UserDefined2 (User).

Description

By default, the start and end points of the function of the weave pattern
are predefined.
The file [Link] is preconfigured to allow the user to carry
out the changes quickly and easily. All the lines are commented out.
The following changes must be made:
• Remove the semicolon at the relevant points
• Specify the axis of the reference coordinate system
• Optionally: Activate weave delay for the weave pattern
• Add the further control point coordinates (X, Y) of the function
[Link] (excerpt, without changes):

...
; UserFigure1
;********************************************************
;FOLD UserFigure1 Array[{cArcUserFigure1#%g}]
Name = {ArcWeavePattern[cArcUserFigure1].Name[]}
;ArcWeavePattern[cArcUserFigure1].Name[] = "UserDefined1"
;********************************************************
; .................... Tech1 ....................
;********************************************************
...
;ArcWeavePattern[cArcUserFigure1].[Link] = #Y
;ArcWeavePattern[cArcUserFigure1].[Link] = FALSE
;ArcWeavePattern[cArcUserFigure1].[Link] = FALSE
; --------------- CPS1 ---------------
;ArcWeavePattern[cArcUserFigure1].Tech1.CPS1.X1 = 0.0
;ArcWeavePattern[cArcUserFigure1].Tech1.CPS1.Y1 = 0.0

;ArcWeavePattern[cArcUserFigure1].Tech1.CPS1.X2 = 1.0
;ArcWeavePattern[cArcUserFigure1].Tech1.CPS1.Y2 = 0.0
;.......
;ArcWeavePattern[cArcUserFigure1].Tech1.CPS1.X10 = 0.0
;ArcWeavePattern[cArcUserFigure1].Tech1.CPS1.Y10 = 0.0
; --------------- CPS2 ---------------
;ArcWeavePattern[cArcUserFigure1].Tech1.CPS2.X1 = 0.0
;ArcWeavePattern[cArcUserFigure1].Tech1.CPS2.Y1 = 0.0
;.......
;ArcWeavePattern[cArcUserFigure1].Tech1.CPS2.X10 = 0.0
;ArcWeavePattern[cArcUserFigure1].Tech1.CPS2.Y10 = 0.0
; --------------- CPS3 ---------------
;ArcWeavePattern[cArcUserFigure1].Tech1.CPS3.X1 = 0.0
;ArcWeavePattern[cArcUserFigure1].Tech1.CPS3.Y1 = 0.0
;.......

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 41/132

Configuration [Link] Advanced 3.7

;ArcWeavePattern[cArcUserFigure1].Tech1.CPS3.X10 = 0.0
;ArcWeavePattern[cArcUserFigure1].Tech1.CPS3.Y10 = 0.0
...

Element Description
GEOREF Axis of the reference coordinate system
[Link] Weave delay left

• TRUE: Weave delay is activated.

• FALSE: Weave delay is deactivated.
[Link] Weave delay right

• TRUE: Weave delay is activated.

• FALSE: Weave delay is deactivated.
X1 … X10 X coordinates of the function of the weave pattern

• Range of CPS1: X1 … X10 = control points

1 … 10
• Range of CPS2: X1 … X10 = control points
11 … 20
• Range of CPS3: X1 … X10 = control points
21 … 30
Y1 … Y10 Y coordinates of the function of the weave pattern

• Range of CPS1: Y1 … Y10 = control points

1 … 10
• Range of CPS2: Y1 … Y10 = control points
11 … 20
• Range of CPS3: Y1 … Y10 = control points
21 … 30

6.10.2 Triangle weave pattern

Function

The function of the Triangle weave pattern consists of 4 control points.

Fig. 6-9: Function of the Triangle weave pattern

Point Description
P1 First point in the function with the coordinates (0/0).
The first point must always have these coordinates.
P2 Second point in the function with the coordinates (0.25/1)
P3 Third point in the function with the coordinates (0.75/-1)

42/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Configuration
Point Description
P4 Last point in the function with the coordinates (1/0)
Only one deflection is required for the Triangle weave pattern: the deflec-
tion in the Y direction of the TTS. This deflection, combined with the weld
velocity, results in the triangular weld seam.

Definition

The Triangle weave pattern is defined in the following example:

• The weave pattern has been assigned the name “User1DFigure”.
• The axis of the reference coordinate system has been entered.
• Weave delay has been activated.
• The control points of the function have been entered.

; UserFigure1
;********************************************************
;FOLD UserFigure1 Array[{cArcUserFigure1#%g}] Name =
{ArcWeavePattern[cArcUserFigure1].Name[]}
ArcWeavePattern[cArcUserFigure1].Name[] = "User1DFigure"
;********************************************************
; .................... Tech1 ....................
;********************************************************
...
ArcWeavePattern[cArcUserFigure1].[Link] = #Y
ArcWeavePattern[cArcUserFigure1].[Link] = TRUE
ArcWeavePattern[cArcUserFigure1].[Link] = TRUE
; --------------- CPS1 ---------------
ArcWeavePattern[cArcUserFigure1].Tech1.CPS1.X1 = 0.0
ArcWeavePattern[cArcUserFigure1].Tech1.CPS1.Y1 = 0.0

ArcWeavePattern[cArcUserFigure1].Tech1.CPS1.X2 = 0.25
ArcWeavePattern[cArcUserFigure1].Tech1.CPS1.Y2 = 1.0

ArcWeavePattern[cArcUserFigure1].Tech1.CPS1.X3 = 0.75
ArcWeavePattern[cArcUserFigure1].Tech1.CPS1.Y3 = -1.0

ArcWeavePattern[cArcUserFigure1].Tech1.CPS1.X4 = 1.0
ArcWeavePattern[cArcUserFigure1].Tech1.CPS1.Y4 = 0.0
...

6.10.3 Spiral weave pattern

Overview

A spiral is made up of the following 3 motions:

• Motion of the robot along the path (from the start point to the end
point of the spiral)
• Lateral deflection of the welding torch (in positive and negative direc-
tions)
• Deflection of the welding torch along the path (in positive and negative
directions)

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 43/132

Configuration [Link] Advanced 3.7

Fig. 6-10: Spiral

Item Description
1 Motion of the robot along the path (from the start point to the
end point of the spiral)
= weave length
2 Lateral deflection of the welding torch (in the positive directions)
= amplitude = weave length/2
3 Deflection of the welding torch along the path (in the positive di-
rection)
4 Deflection of the welding torch along the path (in the negative
direction)
5 Total lateral deflection of the welding torch (double amplitude)

In order to generate a circular or spiral weave pattern, the amplitude

must be half the weave length.

Functions

• A function generator is required for each direction of welding torch de-

flection.
• To obtain the 2 functions for the function generators, the shape of the
spiral without the motion along the path is required. In this case, the
shape in question is a circle.
• The circular motion consists of a sine function and a cosine function.
These functions must be approximated by the function generators.
The sine function represents the lateral deflection. This is mapped with
the 1st function generator. (t = time)

Fig. 6-11: Sine function and control points of the function generator

1 Required sine function for the lateral deflection

2 Sine function, control points of the function generator

44/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

The cosine function represents the deflection along the path. This is map-

Configuration
ped with the 2nd function generator. (t = time)

Fig. 6-12: Cosine function and control points of the function genera-
tor

1 Required cosine function for the deflection along the path

2 Cosine function, control points of the function generator

Definition

The Spiral weave pattern is defined in the following example:

• The weave pattern has been assigned the name “User2DFigure”.
• The axis of the reference coordinate system has been entered.
• Weave delay has been deactivated.
• The control points of both function generators have been entered.

; UserFigure2
;********************************************************
;FOLD UserFigure2 Array[{cArcUserFigure2#%g}] Name =
{ArcWeavePattern[cArcUserFigure2].Name[]}
ArcWeavePattern[cArcUserFigure2].Name[] = "User2DFigure"
;********************************************************
; .................... Tech1 ....................
;********************************************************
...
ArcWeavePattern[cArcUserFigure2].[Link] = #Y
ArcWeavePattern[cArcUserFigure2].[Link] = FALSE
ArcWeavePattern[cArcUserFigure2].[Link] = FALSE
; --------------- CPS1 ---------------
ArcWeavePattern[cArcUserFigure2].Tech1.CPS1.X1 = 0.0
ArcWeavePattern[cArcUserFigure2].Tech1.CPS1.Y1 = 0.0

ArcWeavePattern[cArcUserFigure2].Tech1.CPS1.X2 = 0.166
ArcWeavePattern[cArcUserFigure2].Tech1.CPS1.Y2 = 1.0

ArcWeavePattern[cArcUserFigure2].Tech1.CPS1.X3 = 0.33
ArcWeavePattern[cArcUserFigure2].Tech1.CPS1.Y3 = 1.0

ArcWeavePattern[cArcUserFigure2].Tech1.CPS1.X4 = 0.66
ArcWeavePattern[cArcUserFigure2].Tech1.CPS1.Y4 = -1.0

ArcWeavePattern[cArcUserFigure2].Tech1.CPS1.X5 = 0.833
ArcWeavePattern[cArcUserFigure2].Tech1.CPS1.Y5 = -1.0

ArcWeavePattern[cArcUserFigure2].Tech1.CPS1.X6 = 1.0
ArcWeavePattern[cArcUserFigure2].Tech1.CPS1.Y6 = 0.0

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 45/132

Configuration [Link] Advanced 3.7

...

; .................... Tech2 ....................

;********************************************************
...
ArcWeavePattern[cArcUserFigure2].[Link] = #X
ArcWeavePattern[cArcUserFigure2].[Link] = FALSE
ArcWeavePattern[cArcUserFigure2].[Link] = FALSE
; --------------- CPS1 ---------------
ArcWeavePattern[cArcUserFigure2].Tech2.CPS1.X1 = 0.0
ArcWeavePattern[cArcUserFigure2].Tech2.CPS1.Y1 = -1.0

ArcWeavePattern[cArcUserFigure2].Tech2.CPS1.X2 = 0.0833
ArcWeavePattern[cArcUserFigure2].Tech2.CPS1.Y2 = -1.0

ArcWeavePattern[cArcUserFigure2].Tech2.CPS1.X3 = 0.4166
ArcWeavePattern[cArcUserFigure2].Tech2.CPS1.Y3 = 1.0

ArcWeavePattern[cArcUserFigure2].Tech2.CPS1.X4 = 0.58
ArcWeavePattern[cArcUserFigure2].Tech2.CPS1.Y4 = 1.0

ArcWeavePattern[cArcUserFigure2].Tech2.CPS1.X5 = 0.9166
ArcWeavePattern[cArcUserFigure2].Tech2.CPS1.Y5 = -1.0

ArcWeavePattern[cArcUserFigure2].Tech2.CPS1.X6 = 1.0
ArcWeavePattern[cArcUserFigure2].Tech2.CPS1.Y6 = 0.0

Max. pos. de- Max. neg. de-

Start point End point
flection flection
Deflection in di-
rection of path

Lateral deflection

Combined de-
flections, without
motion along
path

Combined de-
flections, with
motion along
path

46/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Operation
7 Operation

7.1 Status keys

Description

If the Fronius TWIN power sources are used, there are specific status
keys for controlling the individual power source and for the wire feed.
If multiple power sources are used, it is possible to switch between the
power sources using specific status keys.

Precondition

• T1 or T2 mode
• Submit interpreter running
• For wire feed only:
‒ Enabling switch is pressed.

Procedure

Displaying the status keys:

• In the main menu, select Configuration > Status keys > ArcTech >
Welding or Selection of the power source.
Toggling the status key bar:
1. Touch the active status key bar. A window for selecting the status key
bar is opened.
2. Select the desired status key bar.

Mode

Status key Description

Mode 0
Power source 1 is operated separately.
Pressing the lower status key switches further to Mode 1.

Mode 1
Power source 1 is selected as the lead source.
Pressing the lower status key switches further to Mode 2.
Pressing the upper status key switches back to Mode 0.

Mode 2
Power source 2 is selected as the lead source.
Pressing the lower status key switches further to Mode 3.
Pressing the upper status key switches back to Mode 1.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 47/132

Operation [Link] Advanced 3.7

Status key Description

Mode 3
Power source 2 is operated separately.
Pressing the upper status key switches back to Mode 2.

Wire feed

Status key Description

Power source 1 is operated separately, welding wire is
fed forwards (upper status key is pressed).

Power source 1 is operated separately, welding wire is

pulled backwards (lower status key is pressed).

Power source 2 is operated separately, welding wire is

fed forwards (upper status key is pressed).

Power source 2 is operated separately, welding wire is

pulled backwards (lower status key is pressed).

Selection of the power source

Status key Description

Power source 2 is selected (Idx = 2)
The ID of the power source used for the most recently
executed ArcTech command is displayed in parentheses.
Pressing the upper status key switches to the next power
source.
Pressing the lower status key switches to the previous
power source.

7.2 Optimizing parameters online

Description

Online optimization can be used to modify weld parameters and weave

parameters while a weld program is being executed. The jog keys on the
smartPAD are used for modifying the values. Before online optimization

48/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

can be carried out, the parameters to be modified must be assigned to

Operation
the jog keys.
Online optimization is also possible during a dry run. The data set that is
currently being optimized is displayed in the upper area of the window un-
der Weld data set.
Both local and global data sets can be optimized. Global data sets are in-
dicated by a small g in the name (e.g. “gWDAT1”).
Modifying the velocity or weave length also modifies the weave frequen-
cy.

Constraints

• Online optimization is only possible if the robot is located on a weld

seam. This is the case if the welding status Welding is displayed in
the upper area of the ArcTech Online Optimization window.
• It is not possible to change the weave pattern by online optimization
(e.g. from a triangle to a trapezoid).
• The velocity can only be changed within the range from 70 to 130% of
the current value.
• All the while online optimization is active, the jog keys on the smart-
PAD can only be used for modifying the values. It is not possible to
jog the robot axes.

Precondition

• “Expert” user group

• A program is selected.
• Operating mode T1

Procedure

1. In the main menu, select Configuration > ArcTech > Online Optimi-
zation. The ArcTech Online Optimization window opens.
2. If the parameters are to be assigned to the jog keys on the smartPAD:
press Config and perform steps 3 to 9.
If the assignment has already been carried out and the parameters
are to be optimized: continue with step 10.
3. Depending on which parameters are to be assigned, select the Weld
parameters or Weave parameters tab.
4. Select the desired power source in the Selected power source: box.
5. If the power source currently selected via the status keys is always to
be used, activate the Synchronizing with the status keys. check
box.
6. Select the weld mode in the Modes: box.
7. Assign the parameters that are to be modified to the jog keys in the
boxes on the right-hand side.
8. If the assignment is to be applied to the other weld modes: click on
Apply and answer the request for confirmation with Yes.
If you do not wish to save the assignment: press Save.
9. If the parameter is now to be optimized: press Optimize. Online opti-
mization is started.
10. Depending on which parameters are to be optimized, select the Weld
parameters or Weave parameters tab.
11. Start the weld program with the Start key.
12. Press and hold down the enabling switch.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 49/132

Operation [Link] Advanced 3.7

13. Modify the values of the parameters as required with the jog keys dur-
ing program execution.

7.2.1 Instructions for online optimization

Since the motions are planned in the advance run, the velocity may
drop back to the previously planned value between 2 ARC SWITCH in-
structions with the same weld data set.

Example

Program (simplified diagram):

ARCON WDAT1 P0
ARCSWI WDAT2 P1
ARCSWI WDAT2 P2
ARCSWI WDAT2 P3
ARCOFF WDAT3 P4

V1 = originally planned velocity

V2 = optimized velocity

Fig. 7-1: Before online optimization

Fig. 7-2: During online optimization

1 Drop back to the previously planned value

50/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Operation
Fig. 7-3: After online optimization

In the case of ARC SWITCH instructions with the same velocity, but dif-
ferent weld data sets, the velocity only changes with the optimized ARC
SWITCH instruction.

Example

Program (simplified diagram):

ARCON WDAT1 P0
ARCSWI WDAT2 P1
ARCSWI WDAT3 P2
ARCSWI WDAT4 P3
ARCOFF WDAT5 P4

V1 = originally planned velocity

V2 = optimized velocity

Fig. 7-4: Before online optimization

Fig. 7-5: During online optimization

1 Drop due to change of weld data set

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 51/132

Operation [Link] Advanced 3.7

Fig. 7-6: After online optimization

7.3 Optimizing data sets offline

Description

Multiple data sets in multiple programs or directories can be modified si-

multaneously by means of offline optimization. The ignition parameters,
weld parameters and end crater parameters can be modified for every
weld mode and data set.
If the ignition parameters are deactivated, changes to the ignition parame-
ters are not applied.
Both local and global data sets can be optimized. Global data sets are in-
dicated by a small g in the name (e.g. “gWDAT1”).

Precondition

• The robot controller has been configured with WorkVisual.

• “Expert” user group
• T1 or T2 mode
• No program is selected.

Procedure

1. In the main menu, select Configuration > ArcTech > Offline Optimi-
zation.
2. Select the desired power source in the Power source box.
3. Select the weld mode in the Weld mode box.
4. In the Process box, select which parameters are to be changed: igni-
tion parameters, weld parameters or end crater parameters.
5. In the Data set name box, select the corresponding data set.
6. Modify the parameter values as required:
• Relative: increase or decrease the current value by the specified
value
• Relative %: increase or decrease the current value by the speci-
fied percentage value
• Absolute: overwrite the current value with the specified value

The values can only be changed within the limit values. If, for exam-
ple, a relative change would cause the limit value to be exceeded,
the limit value is used as the new value.

If weld parameters are to be modified without changing the weave pat-

tern: select the Ignore setting in the Weave pattern box.
7. Press Next. All available application programs are displayed.

52/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Operation
8. Activate the check boxes of the programs or directories in which
changes are to be made.
9. Press Apply. The number of possible changes will be displayed for
each program in an overview.
10. Respond to the query asking whether the changes should be applied
by pressing Yes. The parameters are modified in all selected pro-
grams or directories.

7.4 Editing weld data sets

Description

The weld data set editor from ArcTech Basic is expanded with ArcTech
Advanced if more than one power source is configured in the WorkVisual
project. In this case, an additional box is available in the weld data set ed-
itor, which can be used to select the desired power source.

Precondition

• The robot controller has been configured with WorkVisual.

• At least 2 power sources are configured in the WorkVisual project.
• Expert user group
• T1 or T2 mode
• No program is selected.

Procedure

1. In the main menu, select Configuration > ArcTech > Weld data set
editor.
2. In the Power source box, select the power source for which weld da-
ta sets are to be edited.
3. Select the weld mode in the Weld mode box.
4. In the Process box, select the process in which modifications are to
be carried out: ignition parameters, weld parameters or end crater pa-
rameters.
5. Edit data sets as required:
• Create a data set:
Press New. A new data set is created with default values.
• Duplicate a data set:
Select the desired data set in the Data set name box and press
Duplicate.
• Edit a data set:
Select the desired data set in the Data set name box, modify the
values and press Save.
• Delete a data set:
Select the desired data set in the Data set name box and press
Delete. Answer the request for confirmation with Yes.

7.5 Parameter optimization

Description

The Parameter optimization function can be used to adapt parameters

during program execution even if a robot program has been selected. By
contrast with Online Optimization, parameters can also be edited in Au-

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 53/132

 [Link] Advanced 3.7

tomatic mode. Additionally, it is possible to copy weld data sets and

Operation

weave parameter sets from welding points to other points.

The parameter limits depend on the configuration in WorkVisual. 4 types
of parameters can be optimized:
• Ignition parameters
• Weld parameters
• Weave parameters
• End crater parameters
If the ignition parameters are deactivated, changes to the ignition parame-
ters are not applied.
Both local and global data sets can be optimized. Global data sets are in-
dicated by a small g in the name (e.g. “gWDAT1”).
If multiple power sources are used, the power source on which the data
set was configured is indicated for each data set.

Fig. 7-7: Parameter optimization

The Parameter optimization can be modified by means of the Configure

button:
Option Description
Automatically apply Activated: The modified values are saved im-
mediately during welding.
Show inactive chan- Activated: Inactive channels are displayed.
nels
Stop on ArcOff Activated: Execution by the robot is stopped at
the ARC OFF weld instruction. This enables
the welding result to be checked and the modi-
fications to be canceled, if necessary.

54/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Operation
Precondition

• The robot controller has been configured with WorkVisual.

• Expert user group
• T1 or T2 mode
• A program is selected.

Procedure

1. In the main menu, select Configuration > ArcTech > Parameter op-
timization. The Overview tab is opened.
2. To display the parameters, expand the desired parameter type:
• Ignition
• Welding
• Weave
• Crater
3. To modify parameters, select the corresponding tab and change the
desired parameters.
• Ignition
The parameters of the Ignition parameters option window can al-
so be edited if a robot program has been selected and during pro-
gram execution.
• Welding
The parameters of the Weld parameters option window can also
be edited if a robot program has been selected and during pro-
gram execution.
• Weave
The parameters of the Weaving option window can also be edited
if a robot program has been selected and during program execu-
tion.
• Crater
The parameters of the End crater parameters option window can
also be edited if a robot program has been selected and during
program execution.
4. Press Apply. The changes are saved.
An overview window with the modified parameters is displayed on
reaching the ARC OFF position if this option is active.

7.6 Displaying additional parameters in the inline line

Description

The Inline forms window from ArcTech Basic is expanded with Arc-
Tech Advanced if more than one power source is configured in the Work-
Visual project. In this case, an additional box is available in the Inline
forms window, which can be used to select the desired power source.
It is not possible to display additional parameters in the inline lines of
the weld instructions ARC ON and ARC OFF within an ARC spline
block.

Precondition

• The robot controller has been configured with WorkVisual.

• “Expert” user group

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 55/132

Operation [Link] Advanced 3.7

• T1 or T2 mode
• No program is selected.

Procedure

1. In the main menu, select Configuration > ArcTech > Inline forms.
2. Select the desired power source in the Power source box.
3. In the Weld command box, select the weld instruction for which the
additional parameters in the inline line are to be displayed.
4. Select the weld mode in the Weld mode box.
5. Depending on whether the desired parameter is an ignition parameter,
a weld parameter or a weave parameter, press the corresponding Plus
key. An additional line is displayed.
6. Select the desired parameter in the Parameter box.
7. Optional: Enter a short name for the parameter in the Shorthand box.
8. Repeat steps 4 to 6 for further parameters.
9. If the settings are only to be used in the selected program: Press
Save.
If the settings are also to be used in other programs:
a. Press Convert. All available application programs are displayed.
b. Activate the check boxes of the programs or directories in which
changes are to be made.
c. Press Apply. The parameters are modified in all selected pro-
grams or directories.

“Inline forms” window

Fig. 7-8: “Inline forms” window

56/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Operation
Item Description
1 Shows a preview of the inline line.
2 Additional parameter that is displayed in the inline line.

Buttons

Button Description
Adds a parameter to the inline line.

Removes the parameter from the inline line.

7.7 Transferring programs to a different kinematic system

Description

Programs that refer to an external kinematic system can be transferred to

a different kinematic system using the EK module editor. For this, the pro-
gram is duplicated and, for example, the base exchanged.
The following kinematic types are supported:
• KUKA linear unit
• 2 DKPs running in opposite directions
• 2 Posiflex units with 1 axis each
• Posiflex with 3 axes
• Posiflex with 5 axes
When the EK module editor is called, it checks the program to see if one
of the supported kinematic types has been used. If this is the case, the
corresponding settings are displayed. If no supported kinematic type has
been used, the editor is opened in Expert mode. Expert mode can also be
called if a supported kinematic type has been used.
The coordinates of the motions are transferred 1 to 1 to the new pro-
gram and the previous base is replaced with the new base. The values
of the external kinematic system are transferred to the new external kin-
ematic system. The resulting paths are only approximations of the opti-
mal paths. Positioning motions, in particular, may deviate greatly. Optimi-
zation of the individual points is thus absolutely essential.

Precondition

• At least 1 external axis is configured.

• Program consists of an SRC file and a DAT file.
• Program is located in the folder R1 or a subfolder thereof.
• User group “Expert”

Procedure

1. Select the program that is to be transferred.

2. Select the menu sequence Edit > EK module editor.
3. Optional: Modify the name of the new program as desired in the New
module: box in the Module properties area.
4. In the Original base box in the Base properties area, select the
base that is to be replaced by a different one.
5. In the New base box, select the base that is to replace the original
base.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 57/132

Operation [Link] Advanced 3.7

6. In the case of kinematic types with a reversing axis: continue with

step 7.
In the case of kinematic types without a reversing axis: continue with
step 10.
7. Enter the new value of the reversing axis in the Value box in the Re-
versing axis area.
8. In the Modification type box, select how the new value is to be de-
termined:
• Absolute: the new value replaces the previous value. It is also
possible to enter negative values.
• Relative: the previous value is increased or decreased by the val-
ue entered.
• Relative with Negate: if, on selecting Relative, the Negate check
box is activated, the previous value is increased or decreased by
the value entered and negated.
9. Optionally: If further settings are desired, press Expert mode and car-
ry out further settings.
(>>> 7.8 "Transferring programs to a different kinematic system (Ex-
pert mode)" Page 59)
10. Press Create module. An overview is displayed with the modifications
and the state of the software limit switches.
11. The overview displays the request for confirmation Do you want to
create the new module with these modifications?. Answer with Yes.
The program is created.

Example

The example shows the settings for a Posiflex with 5 axes, one of which
is a reversing axis.

Fig. 7-9: Posiflex with 5 axes (1 reversing axis)

58/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Operation
7.8 Transferring programs to a different kinematic system (Expert mode)

Description

Programs that contain user-specific kinematic types can be transferred to

a different kinematic system using the Expert mode of the EK module edi-
tor.

Precondition

• At least 1 external axis is configured.

• Program consists of an SRC file and a DAT file.
• Program is located in the folder R1 or a subfolder thereof.
• User group “Expert”

Procedure

1. Select the program that is to be transferred.

2. Select the menu sequence Edit > EK module editor.
3. Optionally: Modify the name of the new program as desired in the
New module: box in the Module properties area.
4. If a base is to be replaced:
a. In the Replace base area, press the Plus key. A window opens.
b. In the Original base box, select the base that is to be replaced by
a different one.
c. In the New base box, select the base that is to replace the origi-
nal base.
d. Confirm the selection with OK.
5. If an axis is to be exchanged:
a. In the Exchange external axes area, press the Plus key. A win-
dow opens.
b. In the Original axis box, select the axis that is to be replaced by
a different one.
c. In the Add axis box, select the axis that is to replace the original
axis.
d. Confirm the selection with OK.
6. If a reversing axis is to be edited:
a. In the Edit external axes area, press the Plus key. Additional
lines are displayed.
b. In the Axis box, select the axis whose value is to be modified.
c. Enter the new value of the axis in the Value box.
d. In the Modification type box, select how the new value is to be
determined:
• Absolute: the new value replaces the previous value. It is also
possible to enter negative values.
• Relative: the previous value is increased or decreased by the
value entered.
• Relative with Negate: if, on selecting Relative, the Negate
check box is activated, the previous value is increased or de-
creased by the value entered and negated.
The maximum number of axes that can be edited is the same as the
number of axes that have been configured.
7. Press Create module. An overview of the modifications is displayed.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 59/132

Operation [Link] Advanced 3.7

8. The overview displays the request for confirmation Do you want to

create the new module with these modifications?. Answer with Yes.
The program is created.

7.9 Defining reference values for the seam length monitoring

Description

Reference values for the seam length monitoring can be defined in the
Seam length monitoring window. The reference values for a maximum of
19 parts can be configured in this window.
The parts and weld seams can be recorded by executing a program con-
taining the parts and weld seams. The recording can be carried out with-
out welding. After recording, the weld seam lengths can be adapted. A re-
cording can be carried out again at any time.
The recorded data are saved in a CSV file. The CSV files are saved as
standard in the directory C:\KRC\ROBOTER\UserFiles\arctech.

Precondition

• Component-specific has been selected for the Seam length moni-

toring option.
• Expert user group
• No program is selected.

Procedure

1. In the main menu, select Configuration > ArcTech > Seam length
monitoring. The Seam length monitoring window opens.
2. Select a part in the left-hand area and carry out the corresponding
settings in the right-hand area:
• Maximum archive file size: Enter the maximum size that the CSV
file for the part may have. The maximum size for all CSV files
combined is 7 MB.
• CSV file name: Enter a name for the folder in which the CSV file
is to be saved. Alternatively, the default name can be left.
• CSV file name: Enter a name for the CSV file. Alternatively, the
default name can be left. The name specified here is also used in
the inline form ARC component start as the name of the part
when the part number is selected.
3. Carry out the settings in step 2 for all parts that are to be monitored.
4. Close the window and answer the request for confirmation with Yes.
The settings are saved.
5. Execute a program with all the parts and weld seams that are to be
recorded.
6. Open the Seam length monitoring window again and edit the recor-
ded parts and weld seams as desired.
(>>> "Editing parts" Page 61)
(>>> "Editing weld seams" Page 62)
7. Close the window and answer the request for confirmation with Yes.
The changes are saved.

60/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Operation
Editing parts

Fig. 7-10: Seam length monitoring window (edit parts)

Item Description
1 Part that has been recorded
2 Weld seams to the part that has been recorded
To edit a weld seam, select it. The associated settings are then
displayed on the right-hand side (>>> "Editing weld seams"
Page 62).
3 Delete part
If the button is pressed, the part and the associated CSV file
are deleted. If the program for recording is executed again, the
part is automatically rerecorded.
4 Re-record weld seams
If the button is pressed, the weld seams are recorded again if
the program for recording is executed again.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 61/132

Operation [Link] Advanced 3.7

Editing weld seams

Fig. 7-11: Seam length monitoring window (edit weld seams)

Item Description
1 Weld seam is monitored
2 Delete weld seam
If the button is pressed, the weld seam is deleted. If the weld
seam is still present in the program for recording and this is
executed again, an error occurs. In order to delete the weld
seam, it must also be deleted in the program for recording.
3 Re-record seam length
If the button is pressed, the length of the weld seam is recor-
ded again if the program for recording is executed again.
4 Weld seam monitoring
Monitoring is active as standard for all weld seams. This button
can be used to deactivate and reactivate monitoring for each
weld seam.
Note: Deactivation of the monitoring is only temporary. If the
submit interpreter or the robot controller is restarted, the moni-
toring is active again.
5 Weld seam length
The value can be changed. If the program for recording is exe-
cuted again, the change is overwritten.
6 Permissible negative deviation of the seam length
The weld seam may be no more than this value shorter than
the specified length.
The range of values is configured in WorkVisual.
7 Permissible positive deviation of the seam length
The weld seam may be no more than this value longer than the
specified length.
The range of values is configured in WorkVisual.

62/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Programming
8 Programming

8.1 Selecting the power source in the inline form

Description

If multiple power sources are configured in the project, the power source
with which the instruction is to be carried out can be selected in the inline
form.

Precondition

• User group “User”

Procedure

1. Select the menu sequence Commands > ArcTech > ARC ON, ARC
SWITCH, ARC OFF or ARC SPLINE.
2. Touch the arrow next to the Welder#1 parameter. The option window
Power source selection is opened.
3. Activate the check box for the desired power source.
4. Save with Cmd OK.

Inline form

Fig. 8-1: Inline form “ARC ON”

Item Description
1 Selection of the power source
Touch the arrow to call the settings. The corresponding option
window is opened.

Option window

Fig. 8-2: Option window “Power source selection”

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 63/132

Programming [Link] Advanced 3.7

Item Description
1 • Check box active: Power source is used for this instruction.
• Check box not active: Power source is not used for this in-
struction.

8.2 Programming a weave delay

Description

If the Weave delay option is activated in WorkVisual, the Weaving option

window from ArcTech Basic is extended by 2 additional parameters. The
parameters can only be set for the weave patterns Triangle, Edge weave
bottom and Edge weave top.
For the weave patterns Trapezoid and Asymmetrical trapezoid, a dwell
time can be set instead of the delay time.
The settings in this option window cannot be used in the RoboTeam
group!

The Monitoring time for standstill detection parameter (Process set-

tings tab in WorkVisual) must always have a higher value than the
Weave delay left and Weave delay right parameters.

Procedure

1. Select the menu sequence Commands > ArcTech > ARC ON or

ARC SWITCH.
2. Touch the arrow next to the WDATx parameter and select the Weav-
ing option window.
3. Set the delay as required.
4. Save the settings with Cmd OK.

Option window

Fig. 8-3: Option window “Weaving” (delay time)

64/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Programming
Item Description
1 Wait time for deflection in the negative Y direction of the TTS
The range of values is configured in WorkVisual.

• Default setting: 0 … 2.5 s

2 Wait time for deflection in the positive Y direction of the TTS
The range of values is configured in WorkVisual.

• Default setting: 0 … 2.5 s

Information about the tool-based technological system (TTS) can be

found in the ArcTech Basic documentation.

Fig. 8-4: Option window “Weaving” (dwell time)

Item Description
1 Dwell time for deflection in the negative Y direction of the TTS
The robot dwells in its weave motion at the position with the
maximum deflection for the defined time. During this time the
robot continues with its motion. The shape of the weave pattern
can be changed with the dwell time.
The range of values is configured in WorkVisual.

• Default setting: 0 … 2.5 s

2 Dwell time for deflection in the positive Y direction of the TTS
The robot dwells in its weave motion at the position with the
maximum deflection for the defined time. During this time the
robot continues with its motion. The shape of the weave pattern
can be changed with the dwell time.
The range of values is configured in WorkVisual.

• Default setting: 0 … 2.5 s

8.3 Advanced settings for ArcTech Advanced

Description

The inline forms from ArcTech Basic are extended by an additional param-
eter in ArcTech Advanced.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 65/132

Programming [Link] Advanced 3.7

The settings in this additional parameter are automatically saved in the

weld data set of the corresponding weld instruction of ArcTech Basic,
e.g. with the name WDAT1. The weld data set with these settings can
be reused with the saved name in subsequent weld instructions.

Inline form

Fig. 8-5: Inline form “ARC ON”

Item Description
1 Advanced settings for ArcTech Advanced
Touch the arrow to call the settings. The corresponding option
windows are opened.

Option window

The option windows displayed depend on the inline form that is used. The
following table gives an overview of the option windows displayed in spe-
cific inline forms:
Inline form Option window
ARC ON The option windows displayed depend on the motion
type:

• PTP: Error strategies, Sloping settings

• LIN, CIRC: Error strategies, Sloping settings,
OnTheFly settings
(>>> 8.3.1 "Option window “Error strategies”"
Page 67)
(>>> 8.3.2 "Option window “Sloping settings” (LIN,
CIRC)" Page 68)
(>>> 8.3.4 "Option window “OnTheFly settings” (LIN,
CIRC)" Page 72)
ARC SWITCH Sloping settings
(>>> 8.3.2 "Option window “Sloping settings” (LIN,
CIRC)" Page 68)
ARC OFF Sloping settings, OnTheFly settings
(>>> 8.3.2 "Option window “Sloping settings” (LIN,
CIRC)" Page 68)
(>>> 8.3.4 "Option window “OnTheFly settings” (LIN,
CIRC)" Page 72)

66/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Programming
Inline form Option window
ARC SPLINE Error strategies, Sloping settings, OnTheFly set-
tings
(>>> 8.3.1 "Option window “Error strategies”"
Page 67)
(>>> 8.3.3 "Option window “Sloping settings”
(SPLINE)" Page 70)
(>>> 8.3.5 "Option window “OnTheFly settings”
(SPLINE)" Page 73)
Note: The OnTheFly settings are made here for ARC
ON and ARC OFF. No OnTheFly settings are possi-
ble in the inline forms within the spline block.

Various errors can occur when using OnTheFly. These can be elimina-
ted by modifying certain parameters:
• If the weld seam is started too late (overall length of seam is too
short), set the Preflow time and Wait time after ignition parame-
ters lower.
• If, in the case of an ignition fault, the seam is not welded or is too
short, set the parameter Current ON timeout lower.
• If the arc is extinguished too late, set the parameter End crater
time lower.

8.3.1 Option window “Error strategies”

This option window can be called via the inline forms ARC ON and ARC
SPLINE.

Fig. 8-6: Option window “Error strategies”

Item Description
1 Select the ignition error strategy.
All ignition error strategies configured in WorkVisual are dis-
played.
2 Select the weld error strategy.
All weld error strategies configured in WorkVisual are displayed.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 67/132

Programming [Link] Advanced 3.7

8.3.2 Option window “Sloping settings” (LIN, CIRC)

This option window can be called via the inline forms ARC ON and ARC
SWITCH.

Fig. 8-7: Option window “Sloping settings” (ARC ON and ARC

SWITCH)

Item Description
1 Select the sloping option.

• No sloping: Switch between the robot velocity and the weld

parameters and weave parameters without a transition.
• Sloping over a distance: Switch between the robot velocity
and the weld parameters and weave parameters on a linear
basis within a defined distance.
• Sloping distance to next point: Switch between the robot
velocity and the weld parameters and weave parameters on
a linear basis within the distance to the next point.
Note: The modification of the robot velocity in conjunction with
the Slope option only takes effect between 70 and 130% of the
programmed path velocity. When this limit is reached, the modi-
fication of the robot velocity is limited. Modification of the path
velocity causes the axis accelerations, too, to be adapted ac-
cordingly. This can, under unfavorable circumstances, lead to
the robot stopping because the required acceleration cannot be
reached.
2 This box is only displayed if the sloping option Sloping over a
distance has been selected.
Enter the length of the switching distance.

• 0 … 100 mm

This option window can be called via the inline form ARC OFF.

68/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Programming
Fig. 8-8: Option window “Sloping settings” (ARC OFF)

Item Description
1 Select the sloping option for ARC OFF.

• No sloping: Switch between the process parameters with-

out a transition.
• Slope over distance: Switch between the process parame-
ters on a linear basis within a defined distance. The sloping
starts before reaching the ARC OFF position. At this point,
the robot is still in motion.
• Slope over time: Switch between the process parameters
on a linear basis within a defined time. The sloping starts
once the ARC OFF position is reached and the robot is al-
ready stationary.
• Sloping over distance and time: Switch between the proc-
ess parameters on a linear basis within a defined distance
and within a defined time. The sloping starts before the
ARC OFF position is reached (distance) and the sloping
stops at the ARC OFF position (time).
Note: This function cannot be used together with the ArcSense
and ArcTech AdaptiveWelding option packages.
2 This box is only displayed if the sloping option Slope over dis-
tance or Sloping over distance and time has been selected.
Enter the length of the switching distance.

• 0 … 100 mm
3 This box is only displayed if the sloping option Slope over time
or Sloping over distance and time has been selected.
Enter the length of the switching time.

• 0 … 3000 ms

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 69/132

Programming [Link] Advanced 3.7

Item Description
4 This field can only be changed in the following cases:

• The Move back over distance option has been selected in

the OnTheFly settings option window.
• The sloping option Slope over distance or Slope over
time has been selected.
Select when sloping starts.

• before ArcOff: The sloping starts before reaching the ARC

OFF position. This option is only available if the Slope over
distance sloping option has been selected.
• at ArcOff: The sloping starts once the ARC OFF position is
reached.
• after ArcOff: The sloping starts after reaching the ARC
OFF position. This option is only available if the Slope over
time sloping option has been selected.

8.3.3 Option window “Sloping settings” (SPLINE)

This option window can be called via the inline form ARC SPLINE.

Fig. 8-9: Option window “Sloping settings” (SPLINE)

70/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Programming
Item Description
1 Select the sloping option.

• No sloping: Switch between the robot velocity and the weld

parameters and weave parameters without a transition.
• Sloping over a distance: Switch between the robot velocity
and the weld parameters and weave parameters on a linear
basis within a defined distance.
• Sloping distance to next point: Switch between the robot
velocity and the weld parameters and weave parameters on
a linear basis within the distance to the next point.
Note: The modification of the robot velocity in conjunction with
the Slope option only takes effect between 70 and 130% of the
programmed path velocity. When this limit is reached, the modi-
fication of the robot velocity is limited. Modification of the path
velocity causes the axis accelerations, too, to be adapted ac-
cordingly. This can, under unfavorable circumstances, lead to
the robot stopping because the required acceleration cannot be
reached.
2 This box is only displayed if the sloping option Sloping over a
distance has been selected.
Enter the length of the switching distance.

• 0 … 100 mm
3 Select the sloping option for ARC OFF.

• No sloping: Switch between the process parameters with-

out a transition.
• Slope over distance: Switch between the process parame-
ters on a linear basis within a defined distance. The sloping
starts before reaching the ARC OFF position. At this point,
the robot is still in motion.
• Slope over time: Switch between the process parameters
on a linear basis within a defined time. The sloping starts
once the ARC OFF position is reached and the robot is al-
ready stationary.
• Sloping over distance and time: Switch between the proc-
ess parameters on a linear basis within a defined distance
and within a defined time. The sloping starts before the
ARC OFF position is reached (distance) and the sloping
stops at the ARC OFF position (time).
Note: This function cannot be used together with the ArcSense
and ArcTech AdaptiveWelding option packages.
4 This box is only displayed if the sloping option Slope over dis-
tance or Sloping over distance and time has been selected.
Enter the length of the switching distance.

• 0 … 100 mm
5 This box is only displayed if the sloping option Slope over time
or Sloping over distance and time has been selected.
Enter the length of the switching time.

• 0 … 3000 ms

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 71/132

Programming [Link] Advanced 3.7

Item Description
6 This field can only be changed in the following cases:

• The Move back over distance option has been selected in

the OnTheFly settings option window.
• The sloping option Slope over distance or Slope over
time has been selected.
Select when sloping starts.

• before ArcOff: The sloping starts before reaching the ARC

OFF position. This option is only available if the Slope over
distance sloping option has been selected.
• at ArcOff: The sloping starts once the ARC OFF position is
reached.
• after ArcOff: The sloping starts after reaching the ARC
OFF position. This option is only available if the Slope over
time sloping option has been selected.

8.3.4 Option window “OnTheFly settings” (LIN, CIRC)

This option window can be called via the inline forms ARC ON and ARC
OFF.
The settings in this option window cannot be used in the RoboTeam
group!

Fig. 8-10: Option window “OnTheFly settings” (LIN, CIRC)

Item Description
1 • Check box active: On-the-fly activation or deactivation is
activated.
• Check box not active: On-the-fly activation or deactivation
is deactivated.
2 Distance to the programmed position for activation/deactivation

• -20 … 20 mm

72/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Programming
Item Description
3 Options for moving back at ARC OFF
This box is only displayed in the ARC OFF inline form.

• No move back at ArcOff: The robot stops at ARC OFF.

• Move back over distance: The robot moves back the con-
figured distance after it has reached ARC OFF. If this option
is selected, it is possible to select when sloping is to start in
the Sloping settings option window.
4 This box is only displayed if the option Move back over dis-
tance has been selected.
Enter the distance that the robot is to move back after reaching
ARC OFF.

• 0 … 50 mm

8.3.5 Option window “OnTheFly settings” (SPLINE)

This option window can be called via the inline form ARC SPLINE.
In order to be able to use OnTheFly in an ARC spline block at the end
of the weld seam, the ARC spline block must be followed by either an
individual spline motion or a spline block.

The settings in this option window cannot be used in the RoboTeam

group!

Fig. 8-11: Option window “OnTheFly settings” (SPLINE)

Item Description
1 • Check box active: On-the-fly activation is activated.
• Check box not active: On-the-fly activation is deactivated.
2 Distance to the programmed position for activation

• -20 … 20 mm
3 • Check box active: On-the-fly deactivation is activated.
• Check box not active: On-the-fly deactivation is deactiva-
ted.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 73/132

Programming [Link] Advanced 3.7

Item Description
4 Distance to the programmed position for deactivation

• -20 … 20 mm
5 Options for moving back at ARC OFF

• No move back at ArcOff: The robot stops at ARC OFF.

• Move back over distance: The robot moves back the con-
figured distance after it has reached ARC OFF. If this option
is selected, it is possible to select when sloping is to start in
the Sloping settings option window.
6 This box is only displayed if the option Move back over dis-
tance has been selected.
Enter the distance that the robot is to move back after reaching
ARC OFF.

• 0 … 50 mm

8.3.6 Programming an Advance Arc Start

Description

If the Advance Arc Start option has been enabled in WorkVisual, addi-
tional parameters are added to the OnTheFly settings option window.
The option can be disabled for individual weld seams. An individual lead
time can be set for each weld seam.

Precondition

• User group “User”

Procedure

1. Select the menu sequence Commands > ArcTech > ARC ON or

ARC SPLINE.
2. Touch the arrow next to the parameter [Link] and select the On-
TheFly settings option window.
3. Carry out the settings as desired.
4. Save with Cmd OK.

Option window

Fig. 8-12: Option window “OnTheFly settings” (Advance Arc Start)

74/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Programming
Item Description
1 • Check box active: The Advance Arc Start option is ena-
bled for this seam.
• Check box not active: The Advance Arc Start option is
disabled for this seam.
2 • Check box active: The individual lead time is enabled; the
individual lead time is used for this seam.
• Check box not active: The individual lead time is disabled;
the lead time set in WorkVisual is used for this seam.
3 Individual lead time for ignition of the arc

• 0 … 2000 ms

8.4 Programming Thermal Control

Description

If the option Thermal Control has been activated in WorkVisual, Thermal

Control can be programmed in the inline forms ARC ON and
ARC SWITCH. The additional parameter for Thermal Control can be inser-
ted or removed using the Thermal Control On/Thermal Control Off but-
ton.
If the Triangle or Trapezoid weave pattern has been configured in the in-
line form, 2 data sets are available for Thermal Control. If no weave pat-
tern has been configured, only 1 data set is available for Thermal Control.
With high weave frequencies, the time for switching the weld parame-
ters may shift. It is also possible that the time is not detected.

The actual time for switching the weld parameters depends, among oth-
er things, on the field bus and the connected hardware (such as the
power source). This can result in restrictions on the use of Thermal
Control.

Precondition

• User group “User”

Procedure

1. Select the menu sequence Commands > ArcTech > ARC ON, ARC
SWITCH or ARC SPLINE.
2. Press the Thermal Control On button. The parameter for Thermal
Control is inserted.
3. Touch the arrow next to the TCDAT1 parameter. The corresponding
option window is opened.
4. Carry out the settings as desired.
5. Save with Cmd OK.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 75/132

Programming [Link] Advanced 3.7

Inline form

Fig. 8-13: Inline form “ARC ON”

Item Description
1 Data sets for Thermal Control
Touch the arrow to call the data sets. The corresponding option
window is opened.

Option window

Fig. 8-14: Option window “TCDAT”

Item Description
1 • Check box active: Data set for Thermal Control is activa-
ted.
• Check box not active: Data set for Thermal Control is de-
activated.
2 Enter the threshold value at which switching is to occur.
If weaving is carried out, the threshold value corresponds to the
weave amplitude. If weaving is not carried out, the threshold
value corresponds to the length.

• With weaving: Range of values depends on the weave am-

plitude
Example: Deflection = 10, range of values = -10 … 10
• Without weaving: 0 … 30 mm
3 Select the weld mode which is to be switched to.
4 Select the weld data set which is to be switched to.

76/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Programming
Item Description
5 This parameter is not available as standard, but is an example
of a channel activated in WorkVisual. The data set for Thermal
Control contains all the channels activated in WorkVisual for the
selected weld mode.
Adapt the settings of the channels as desired. Once the thresh-
old value is reached, the system switches to the other setting.

8.5 Programming the seam weld enable by PLC

Description

If the Seam weld enable by PLC option is activated in WorkVisual and

the input and output signals for the seam number have been configured,
the seam weld enable by PLC can be programmed. For this purpose, the
seam number must be set in the option window Seam data.

Precondition

• User group Expert

Procedure

1. Select the menu sequence Commands > ArcTech > ARC ON or

ARC SPLINE.
2. Touch the arrow at Seam in the inline form. The corresponding option
window is opened.
3. Set the desired seam number.
4. Save the settings with Cmd OK.

Inline form

Fig. 8-15: Inline form “ARC ON”

Item Description
1 Seam settings
Touch the arrow to call the settings. The corresponding option
window is opened.
(>>> 8.5.1 "Option window “Seam data”" Page 78)

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 77/132

Programming [Link] Advanced 3.7

8.5.1 Option window “Seam data”

Fig. 8-16: Option window “Seam data”

Item Description
1 Optionally: Enter a name for the component.
2 Optionally: Set the number of the component.
3 Enter a name for the seam.
4 Set the number of the seam.
In the case of seam weld enable by PLC, the number has the
following effect:

• 0: Seam weld enable by PLC is deactivated for this seam.

• 1 … 65535: Seam weld enable by PLC is activated for this
seam. The higher-level controller must send the number set
here back to the robot controller. This way the seam is ena-
bled by the higher-level controller. The robot cannot contin-
ue its program until the seam has been enabled.
5 Only in the case of seam length monitoring: Set specified length
of the seam.

It is recommended that all boxes in the option window are filled out.
This simplifies the evaluation of LOG files and error messages.

8.6 Programming seam length monitoring

Description

If the Seam length monitoring option is activated in WorkVisual and the

permissible deviation of the weld seam length has been configured, seam
length monitoring can be programmed. Different settings must be made
depending on whether Seam-specific or Component-specific has been
selected.
If Seam-specific has been selected, the corresponding settings must be
made in the Seam data and Seam length monitoring option windows.
If Component-specific has been selected, it is only necessary to make
the corresponding settings in the Seam data option window. In this case,
the settings for the seam length monitoring are made in the Seam length
monitoring window: (>>> 7.9 "Defining reference values for the seam
length monitoring" Page 60).

78/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Programming
Precondition

• User group “User”

Procedure

1. Select the menu sequence Commands > ArcTech > ARC ON or

ARC SPLINE.
2. Touch the arrow at Seam in the inline form. The corresponding option
windows are opened.
3. Make the desired settings in the Seam data and Seam length moni-
toring option windows.
4. Save the settings with Cmd OK.

Inline form

Fig. 8-17: Inline form “ARC ON”

Item Description
1 Seam settings
Touch the arrow to call the settings. The corresponding option
windows are opened.
(>>> 8.6.1 "Option window “Seam data”" Page 79)
(>>> 8.6.2 "Option window “Seam length monitoring”"
Page 80)

8.6.1 Option window “Seam data”

Fig. 8-18: Option window “Seam data”

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 79/132

Programming [Link] Advanced 3.7

Item Description
1 Optionally: Enter a name for the component.
2 Optionally: Set the number of the component.
3 Enter a name for the seam.
4 Set the number of the seam.
In the case of seam weld enable by PLC, the number has the
following effect:

• 0: Seam weld enable by PLC is deactivated for this seam.

• 1 … 65535: Seam weld enable by PLC is activated for this
seam. The higher-level controller must send the number set
here back to the robot controller. This way the seam is ena-
bled by the higher-level controller. The robot cannot contin-
ue its program until the seam has been enabled.
5 Only in the case of seam length monitoring: Set specified length
of the seam.

It is recommended that all boxes in the option window are filled out.
This simplifies the evaluation of LOG files and error messages.

8.6.2 Option window “Seam length monitoring”

Fig. 8-19: Option window “Seam length monitoring”

Item Description
1 • Check box active: Seam length check is activated.
• Check box not active: Seam length check is deactivated.
2 Enter the permissible negative deviation of the seam length.
The weld seam may be no more than this value shorter than
the specified length.
The range of values is configured in WorkVisual.
3 Enter the permissible positive deviation of the seam length.
The weld seam may be no more than this value longer than the
specified length.
The range of values is configured in WorkVisual.

80/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Programming
The behavior of the system when the maximum or minimum limit for the
permissible deviation is violated is defined using the variable gArcIgnor-
eSeamMonQuitMsg:
• FALSE: The robot generates an acknowledgement message at
ARC OFF and stops its motion until the message has been ac-
knowledged.
This is the default setting that should also be used during normal
operation.
• TRUE: At the ARC OFF position, the robot generates a notification
message if the seam length is outside the permissible range and
continues its motion.
This setting should only be used for start-up.

8.7 Grouping weld seams (Advanced Error Recovery strategy)

Description

The grouping of weld seams is required in connection with the Advanced

Error Recovery strategy (>>> 2.13 "Advanced Error Recovery strategy
(optional)" Page 16). Here, in the event of a seam fault, the robot always
moves to the end of the seam group and, from there, to the service posi-
tion. A seam group can also consist of a single weld seam.
The weld seams are grouped using the ARC group start and ARC
group end instructions.
NOTICE
Risk of collision when welding in the RoboTeam group
When using the Advanced Error Recovery strategy in the RoboTeam
group, RoboTeam participants may collide with one another during the
motion to the service position. Damage to property may result.
• Ensure that the motion to the service position can always be carried
out by all RoboTeam participants without a collision.

NOTICE
Risk of collision during sensor-guided welding
The Advanced Error Recovery strategy must not be used with sensor-
guided welding. For the motion from the beginning of the seam group to
the error position, the robot would not follow the corrected path but rath-
er the taught one. Collisions and damage to property could result.
• Do not use the Advanced Error Recovery strategy with ArcSense.

If the Advanced Error Recovery strategy is used in RoboTeam

(synchronized welding), the seam groups for all RoboTeam participants
must contain the same number of seams. Otherwise, the programs of
the participants cannot be synchronized.

8.7.1 Inline form “ARC group start”

Precondition

• Program has been opened.

Call

• Select the menu sequence Commands > ArcTech > Seam grouping
> ARC group start.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 81/132

Programming [Link] Advanced 3.7

Description

This instruction defines the beginning of the seam group and must be pro-
grammed before the 1st weld seam of the group. The group only be-
comes active if the instruction ARC group end has also been program-
med.
When using ARC spline blocks, a position must be programmed be-
tween the instruction ARC group start and the ARC spline block. This
is necessary in order to correctly determine the distance to the error po-
sition on the seam.

Fig. 8-20: Inline form “ARC group start”

Item Description
1 Enter the name of the seam group.

8.7.2 Inline form “ARC group end”

Precondition

• Program has been opened.

Call

• Select the menu sequence Commands > ArcTech > Seam grouping
> ARC group end.

Description

This instruction defines the end of the seam group and must be program-
med after the last weld seam of the group.

Fig. 8-21: Inline form “ARC group end”

Item Description
1 The subprogram to be executed if the maximum number of igni-
tion or weld faults is reached.
(>>> [Link] "Creating subprograms" Page 83)
If subprograms have already been created, the To existing
programs button can be used to switch to the existing pro-
grams.

If subprograms for the motion to the service position are deleted, this
can result in the weld programs no longer being available for selection.
Before deleting a subprogram, make sure that it is no longer being
used.

82/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

[Link] Creating subprograms

Programming
Description

Newly created programs have the same content as the [Link]

template in the directory KRC:\R1\Program\ArcTechErrorRecovery\Tem-
plate. The template can be modified. All subprograms created after modifi-
cation contain the modified content. The subprograms are created in the
directory KRC:\R1\Program\ArcTechErrorRecovery.
As standard, the template contains the call of a subprogram that is execu-
ted when the service position is reached. The motions from the end of the
seam group to the service position must be taught before this call. The
motions from the service position to the beginning of the seam group
must be taught after this call.

Procedure

• If no subprogram has yet been created:

1. Enter a name and confirm with Cmd OK.
2. Answer the request for confirmation with Yes.
• If one or more subprograms have already been created:
1. Press the New program button.
2. Enter a name and confirm with Cmd OK.
3. Answer the request for confirmation with Yes.

8.8 Grouping weld seams to a part

Description

Weld seam lengths can be monitored for each part. For this purpose, the
weld seams belonging to a part must be grouped together as a seam
group. There are 2 instructions for this:
• ARC component start
Defines the start of the seam group. The part starts with this instruc-
tion.
• ARC component end
Defines the end of the seam group. The part ends with this instruction.
A maximum of 19 parts can be monitored. Each part can contain up to
200 weld seams.
In order for faulty parts to be detected by the monitoring function, the
following must be taken into consideration during programming:
• All weld seams belonging to a part must be included in the seam
group.
• The seam group for one part must not contain weld seams from oth-
er parts.
• If a seam group is started, it must be terminated before a new seam
group is started.
It is not necessary to define the seam group in the same program; the
individual weld seams can also be located in subprograms.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 83/132

Programming [Link] Advanced 3.7

8.8.1 Inline form “ARC component start”

Description

This instruction defines the start of the part and must be programmed be-
fore the first weld seam that belongs to the part. The group only becomes
active if the instruction ARC component end has also been programmed.

Precondition

• User group “User”

• T1 mode
• Program is selected or open.

Procedure

1. Position the cursor in the line after which the instruction is to be inser-
ted.
2. Select the menu sequence Commands > ArcTech > Component
grouping > ARC component start.
3. Set the parameters in the inline form.
4. Press Cmd OK to save the instruction.

Inline form

Fig. 8-22: Inline form “ARC component start”

Item Description
1 Switching to the inline form ARC component end is possible

• Start, End
2 Select the number of the part.

8.8.2 Inline form “ARC component end”

Description

This instruction defines the end of the part and must be programmed after
the last weld seam that belongs to the part.

Precondition

• User group “User”

• T1 mode
• Program is selected or open.

Procedure

1. Position the cursor in the line after which the instruction is to be inser-
ted.
2. Select the menu sequence Commands > ArcTech > Component
grouping > ARC component end.
3. Press Cmd OK to save the instruction.

84/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Programming
Inline form

Fig. 8-23: Inline form “ARC component end”

Item Description
1 Switching to the inline form ARC component start is possible

• Start, End

8.9 Programming the tack welding function

Description

The Stitch welding function option can be used to make weld seams of
equal length at regular intervals. If the option has been activated in Work-
Visual, it can be programmed in the inline form ARC BLOCK.
The tack welding function is started at the ARC ON position. The
positions at which the welding process is started and stopped are calcula-
ted automatically.
The parameters programmed in the ARC block apply to the entire weld
path. If required, individual seam sections can be assigned different weld
and weave parameters using the ARC SWITCH instruction. These values
then apply only to this section:

Precondition

• User group “User”

• T1 mode
• A program is selected.

Procedure

1. Position the cursor in the line after which the ARC block is to be inser-
ted.
2. Select the menu sequence Commands > ArcTech > ARC BLOCK.
3. Press the Special functions button and select Stitch welding func-
tion On. The parameter for the tack welding function is inserted.
4. Touch the arrow next to the SWDAT1 parameter. The corresponding
option window is opened.
5. Carry out the settings as desired.
6. Save with Cmd OK.

Inline form

Fig. 8-24: Inline form “ARC BLOCK”

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 85/132

Programming [Link] Advanced 3.7

Item Description
1 Settings for the tack welding function
Touch the arrow to call the settings. The corresponding option
window is opened.

Option window

Fig. 8-25: Stitch welding function option window (distance)

Item Description
1 Options for the spacing of weld seams

• Set distance: The weld seams are evenly spaced over the
specified distance. The length of the interrupted spacing be-
tween the weld seams is calculated automatically.
• Set step length: The length of the interrupted spacing be-
tween the weld seams can be predefined on the basis of
the step length. The step length consists of the length of
the weld seam and the length of the interrupted spacing.
• Until ArcOff: With this option, welding is carried out to the
ARC OFF position. Here, too, the length of the interrupted
spacing between the weld seams can be predefined on the
basis of the step length.
Notice: With the Set step length option, the length of the last
weld seam can deviate from the specified length since it is
ended at the ARC OFF position.
2 Enter the length of a weld seam.

• 0 … 300 mm
3 Enter the distance over which the weld seams are to be
spaced.

• 0 … 1500 mm
4 Enter the number of steps.

• 0 … 50

86/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Programming
Fig. 8-26: Stitch welding function option window (step length, up to
ArcOff)

Item Description
1 Options for the spacing of weld seams

• Set distance: The weld seams are evenly spaced over the
specified distance. The length of the interrupted spacing be-
tween the weld seams is calculated automatically.
• Set step length: The length of the interrupted spacing be-
tween the weld seams can be predefined on the basis of
the step length. The step length consists of the length of
the weld seam and the length of the interrupted spacing.
• Until ArcOff: With this option, welding is carried out to the
ARC OFF position. Here, too, the length of the interrupted
spacing between the weld seams can be predefined on the
basis of the step length.
Notice: With the Set step length option, the length of the last
weld seam can deviate from the specified length since it is
ended at the ARC OFF position.
2 Enter the length of a weld seam.

• 0 … 300 mm
3 Enter the step length. This consists of the length of the weld
seam and the length of the interrupted spacing.

• 0 … 500 mm
4 This box is only displayed if the option Set step length or Set
distance has been selected.
Enter the number of steps.

• 0 … 50

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 87/132

Programming [Link] Advanced 3.7

88/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Simulation
9 Simulation

9.1 Process settings in [Link]

Description

The process settings from ArcTech Basic are expanded to include addi-
tional settings in ArcTech Advanced.
Further information about the process settings in [Link] can be
found in the [Link] Basic documentation.

Properties window – Process settings

Parameter Description
ArcTech Advanced options
Advanced error de- Type of application for the Advanced Error Recovery strategy
cisions
• Automatic: The welding process is repeated on this seam.
• Dependent on operating mode: Once the maximum number of
ignition errors or welding interruptions has been reached, a dialog
is displayed on the smartPAD in the operating modes T1, T2 and
AUT. In AUT EXT mode, the robot controller sets the PLC clean-
ing position output, thereby requesting a handshake mechanism.
By setting the PLC decision for error recovery strategy (bit-by-
bit) input signal, a higher-level controller can decide whether the
seam is skipped (value = 1) or whether the welding process for
this seam is repeated (value = 2).
• Dialog on smartPAD: Once the maximum number of ignition er-
rors or welding interruptions has been reached, a dialog is dis-
played on the smartPAD. The user can decide whether the weld-
ing process for this seam is to be repeated or whether the seam
is to be skipped.
• PLC signals: Once the maximum number of ignition errors or
welding interruptions has been reached, the robot controller sets
the PLC cleaning position output, thereby requesting a hand-
shake mechanism. By setting the PLC decision for error recov-
ery strategy (bit-by-bit) input signal, a higher-level controller can
decide whether the seam is skipped (value = 1) or whether the
welding process for this seam is repeated (value = 2).
Default: Automatic
In order to be able to use the Advanced Error Recovery strategy, the
weld seams must be grouped:
(>>> 8.7 "Grouping weld seams (Advanced Error Recovery strategy)"
Page 81)

Notice: If Dependent on operating mode or PLC signals has been

selected: To allow the higher-level controller to send the decision back
to the robot controller, the PLC decision for error recovery strategy
(bit-by-bit) input must be configured:
(>>> 9.3 "Configuring inputs and outputs for the seam number in
[Link]" Page 94)

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 89/132

Simulation [Link] Advanced 3.7

Parameter Description
Weave delay Allows the welding torch to stop for a defined time at the maximum
lateral deflection of a weave pattern

• Activated: Option is activated.

• Deactivated: Option is deactivated.
Default: Deactivated
Slope Switches between the weld parameters or the robot velocity within a
defined distance

• Activated: Option is activated.

• Deactivated: Option is deactivated.
Default: Deactivated
The Slope option cannot be used during online optimization. The pa-
rameter Behavior for online optimization must therefore be used to
define the behavior of the robot controller during online optimization:

• Slope deactivated: During online optimization, the Slope option

is deactivated.
• OnlineOpt. deactivated: Online optimization is not possible at
points on the welding path at which the Slope option is used.
In order to be able to use the option, it must be activated for the de-
sired channels or the robot velocity:
(>>> 9.8 "Configuring Slope in [Link]" Page 98)
Notice: This function cannot be used together with the ArcSense and
ArcTech AdaptiveWelding option packages.
On-the-fly activation Ignites and deactivates the arc without exact positioning
or deactivation
• Activated: Option is activated.
• Deactivated: Option is deactivated.
Default: Deactivated
Notice: It is advisable to adapt the approach velocity to ARC ON and
the motion velocity after ARC OFF to the welding velocity. The correct
velocity units must be observed.
Weld enable by PLC Seam weld enable by higher-level controller

• Activated: Option is activated.

• Deactivated: Option is deactivated.
Default: Deactivated
Notice: In order for the parameter “Seam number” to be displayed in
the inline form, the inputs and outputs for the seam number must be
configured:
(>>> 9.3 "Configuring inputs and outputs for the seam number in
[Link]" Page 94)

90/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Simulation
Parameter Description
Transfer robot ve- Transfers weld velocity to the power source
locity (actual value)
• Activated: Option is activated.
• Deactivated: Option is deactivated.
Default: Deactivated
If the option is activated, the parameter Unit of power source can
be used to select the unit of the robot velocity expected by the power
source.
Notice: In order to be able to use the option, it must be configured:
(>>> 9.9 "Transferring the weld velocity to the power source in
[Link]" Page 98)
Seam length moni- Monitors the weld seam length
toring
• None: Option is deactivated.
• Seam-specific: The seam length of individual weld seams is
monitored.
• Component-specific: The seam length of all weld seams belong-
ing to a part is monitored.
Default: None
If Seam-specific or Component-specific has been selected, other
settings must be made:
(>>> 9.1.1 "Settings for seam length monitoring" Page 92)
If Component-specific is selected:
For communication with the higher-level controller, the corresponding
inputs and outputs must be configured:
(>>> 9.4 "Configuring inputs and outputs for seam length monitoring
in [Link]" Page 95)
In order to be able to use the option, it must be programmed:
(>>> 9.10 "Statement Properties in [Link]" Page 99)
Advance Arc Start Start the welding process before reaching the ARC ON position

• Activated: Option is activated.

• Deactivated: Option is deactivated.
Default: Deactivated
If the option is activated, the lead time for ignition of the arc can be
configured using the parameter Lead Time for Advance Arc Start.

• 0 ... 2000 ms
The option can be set individually in ARC ON:
(>>> 9.10 "Statement Properties in [Link]" Page 99)

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 91/132

Simulation [Link] Advanced 3.7

Parameter Description
Move back at ArcOff Move back a specific distance at ARC OFF

• Activated: Option is activated.

• Deactivated: Option is deactivated.
Default: Deactivated
The distance the robot is to move back can be set individually in the
ARC OFF or ARC SPLINE inline form:
(>>> 8.3.4 "Option window “OnTheFly settings” (LIN, CIRC)" Page 72)
(>>> 8.3.5 "Option window “OnTheFly settings” (SPLINE)" Page 73)
Thermal Control Modify process parameters cyclically during welding
Depending on the distance or weave deflection, this option can be
used to switch between 2 or more weld data sets during ARC ON.

• Activated: Option is activated.

• Deactivated: Option is deactivated.
Default: Deactivated
The option can be set individually in the instruction properties:
(>>> 9.10 "Statement Properties in [Link]" Page 99)
Stitch welding func- Make weld seams of equal length at regular intervals
tion
• Activated: Option is activated.
• Deactivated: Option is deactivated.
Default: Deactivated
Notes:

• The option cannot be used in this version of [Link].

• Programs created on the robot controller with this option can
cause errors after being imported into [Link].

9.1.1 Settings for seam length monitoring

Description

If the Seam length monitoring option is activated, the following settings

can be made:

Properties window – Seam length monitoring

Setting Description
Permissible Negative maximum value that can be set in the Seam length monitor-
length undercut ing option window or in the Seam length monitoring window (weld
seam may be shorter by no more than the specified value)
Permissible Positive maximum value that can be set in the Seam length monitoring
length exceeded option window or in the Seam length monitoring window (weld seam
may be longer by no more than the specified value)

92/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Simulation
Setting Description
Process continua- Message generation in the case of seam lengths outside of the toler-
tion despite ex- ance range
ceeding the toler-
ance • Activated: If the length of the weld seam is outside of the tolerance
range, a notification message with the current seam length is gener-
ated.
• Deactivated: If the length of the weld seam is outside of the toler-
ance range, an acknowledgement message with the current seam
length is generated.
This setting is only displayed if Seam-specific has been selected.
PLC handshake Message generation when using a higher-level controller

• Activated: At the end of every weld seam, a status message with

the current seam length is generated and the robot waits for feed-
back from the higher-level controller. The following status messages
are possible:
‒ Current seam: {0} is too short Length: {1} mm. Specified seam
length {2} mm
‒ Seam length cannot be determined. Seam: {0}
‒ Current seam: {0} Length: {1} mm. Specified seam length {2} mm
‒ Current seam: {0} is too long Length: {1} mm. Specified seam
length {2} mm
The status messages are only generated in AUT and AUT EXT
modes. For start-up purposes, message generation is also possible
in modes T1 and T2. For this, set the variable gArcSeamLength-
TestMsg to TRUE via the variable display.
• Deactivated: If the length of the weld seam is within the tolerance
range, no message is generated. If the length of the weld seam is
outside of the tolerance range, an acknowledgement message with
the current seam length is generated.
This setting is only displayed if Seam-specific has been selected.
Note: The messages can be evaluated and reset using the communica-
tion interface to the higher-level controller. Further information about the
communication interface to the higher-level controller is contained in the
[Link] Basic documentation.
Handshake at Wait for feedback from higher-level controller
corresponding
seam end • Activated: At ARC OFF, the robot waits for feedback from the high-
er-level controller before it continues with the next weld seam.
• Deactivated: After ARC OFF, the robot continues with the next weld
seam. If, however, there is no feedback from the higher-level control-
ler at ARC ON of the next weld seam, the robot waits at this point.
This setting is only displayed if Seam-specific has been selected.
Note: The setting only has any effect if the PLC handshake setting is
activated.

9.2 Adding Error strategies in [Link]

Description

If an error occurs during ignition or welding, the welding process is inter-

rupted. The user has the option of configuring up to 10 ignition error strat-
egies and up to 10 weld error strategies.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 93/132

Simulation [Link] Advanced 3.7

Fault situations

• Ignition and weld faults due to defective welding torch and/or welding
equipment
• Ignition and weld faults resulting from workpiece characteristics, e.g.
dirt, gap
• Media or periphery faults, e.g. shielding gas or welding wire not
present
• Robot errors (IR_STOPMESS), e.g. in the case of an EMERGENCY
STOP or operator safety violation
• Stop of a program, e.g. by pressing the STOP key on the smartPAD

Precondition

• Robot with power source is present in 3D scene

• START area

Procedure

1. Click on Devices under the power source in the Error strategies win-
dow. The Properties window is opened.

2. In the Properties window, click on the button. The New error

strategy window opens.
3. Select whether it is a weld or ignition error strategy.
4. Enter a unique name for the error strategy and set the other parame-
ters.
5. Confirm with OK. The new error strategy is displayed in the Proper-
ties window.

Further information about the ignition and weld error strategies can be
found in the [Link] Basic documentation.

9.3 Configuring inputs and outputs for the seam number in [Link]

Description

The inputs and outputs for the seam number can be configured in
[Link]. These inputs and outputs are required for seam weld enable
by a higher-level controller.
The PLC decision for error recovery strategy (bit-by-bit) input can also
be configured. This is required for the feedback of the higher-level control-
ler in connection with the Advanced Error Recovery strategy.

Precondition

• Robot with power source is present in 3D scene

• START area

Procedure

1. In the Devices window, open the node of the power source and click
on Device I/O. The Properties window is opened.

2. In the Properties window, click on the cogwheel. The Configura-

tion window opens.
3. Open the node of the higher-level controller in the Configuration win-
dow.
4. Expand the Digital inputs node.

94/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Simulation
5. Activate the signal Seam number to PLC and enter the input range
for the seam number.
6. Optional: Activate the signal PLC decision for error recovery strat-
egy (bit-by-bit) for the Advanced Error Recovery strategy and enter
the input range for the decision of the higher-level controller.
7. Expand the Digital outputs node.
8. Activate the signal Seam number from PLC and enter the output
range for the seam number.

9.4 Configuring inputs and outputs for seam length monitoring in

[Link]

Description

The inputs and outputs for the seam length monitoring can be configured
in [Link]. These inputs and outputs are required for communication
with the higher-level controller.

Precondition

• Robot with power source is present in 3D scene

• START area

Procedure

1. In the Devices window, open the node of the power source and click
on Device I/O. The Properties window is opened.

2. In the Properties window, click on the cogwheel. The Configura-

tion window opens.
3. Open the node of the higher-level controller in the Configuration win-
dow.
4. Expand the Digital inputs node.
5. Activate the signals Confirmation, received faulty seam number and
Reset error state and assign an address.
6. Activate the signal Component ID and enter an input range.
7. Expand the Digital outputs node.
8. Activate the signals Transfer faulty seam number, Faulty seam
number present, Component OK and Component not OK and as-
sign an address.
9. Activate the signals Error number for seam length and Faulty seam
number and enter an output range.

9.5 Grouping weld seams in [Link] (Advanced Error Recovery strat-

egy)

Description

The grouping of weld seams is required in connection with the Advanced

Error Recovery strategy (>>> 2.13 "Advanced Error Recovery strategy
(optional)" Page 16). Here, in the event of a seam fault, the robot always
moves to the end of the seam group and, from there, to the service posi-
tion. A seam group can also consist of a single weld seam.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 95/132

Simulation [Link] Advanced 3.7

NOTICE
Risk of collision when welding in the RoboTeam group
When using the Advanced Error Recovery strategy in the RoboTeam
group, RoboTeam participants may collide with one another during the
motion to the service position. Damage to property may result.
• Ensure that the motion to the service position can always be carried
out by all RoboTeam participants without a collision.

NOTICE
Risk of collision during sensor-guided welding
The Advanced Error Recovery strategy must not be used with sensor-
guided welding. For the motion from the beginning of the seam group to
the error position, the robot would not follow the corrected path but rath-
er the taught one. Collisions and damage to property could result.
• Do not use the Advanced Error Recovery strategy with ArcSense.

If the Advanced Error Recovery strategy is used in RoboTeam

(synchronized welding), the seam groups for all RoboTeam participants
must contain the same number of seams. Otherwise, the programs of
the participants cannot be synchronized.

Precondition

• Robot with power source is present in 3D scene

• PROGRAM area

Procedure

1. Select the robot in the 3D scene.

2. In the program editor, select the line after which the seam group is to
start.
3. In the icon bar, select Inline forms > ArcTech > ArcGroup > Arc-
SeamGroup. The instruction is inserted below the one currently selec-
ted.
4. Enter a name for the seam group in the Statement Properties win-
dow and select the program to be executed.
5. Select the desired seams in the program editor and drop them onto
the ArcSeamGroup instruction. The seams are indented under the in-
struction.

“Statement Properties” window

Parameters Description
Seam group Name of the seam group
Program Name of the subprogram to be executed if the maximum number of
ignition or weld errors is reached.
Add new one • Activated: A new subprogram is created. The name can be en-
tered under the parameter Program.
• Deactivated: No new subprogram is created. An existing subpro-
gram must be selected under the parameter Program.

96/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Simulation
9.6 Grouping weld seams to a part in [Link]

Description

Weld seam lengths can be monitored for each part. For this purpose, the
weld seams belonging to a part must be grouped together as a seam
group. A maximum of 19 parts can be monitored. Each part can contain
up to 200 weld seams.
In order for faulty parts to be detected by the monitoring function, the
following must be taken into consideration during programming:
• All weld seams belonging to a part must be included in the seam
group.
• The seam group for one part must not contain weld seams from oth-
er parts.
• If a seam group is started, it must be terminated before a new seam
group is started.
It is not necessary to define the seam group in the same program; the
individual weld seams can also be located in subprograms.

Precondition

• Robot with power source is present in 3D scene

• PROGRAM area

Procedure

1. Select the robot in the 3D scene.

2. In the program editor, select the line after which the seam group is to
start.
3. In the icon bar, select Inline forms > ArcTech > ArcPart > ArcPart
Group. The instruction is inserted below the one currently selected.
4. In the Statement Properties window, select the number of the part.
5. In the program editor, select the line after which the seam group is to
end.
6. In the icon bar, select Inline forms > ArcTech > ArcPart > ArcPart
Group. The instruction is inserted below the one currently selected.
7. Select the option Exit under the parameter ArcPart group type in the
Statement Properties window. The seam group is activated.

“Statement Properties” window

Parameters Description
ArcPart group type Select whether this is the start or end of the grouping.

• Start: Defines the start of the part and must be programmed be-
fore the first weld seam that belongs to the part. The group only
becomes active if the instruction Exit has also been programmed.
• Exit: Defines the end of the part and must be programmed after
the last weld seam that belongs to the part.
Default: Start
Selected index Select the number of the part.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 97/132

Simulation [Link] Advanced 3.7

9.7 Configure the range of values for the weave delay in [Link]

Description

The default values and the ranges of values for the wait times for deflec-
tion in the negative Y direction of the TTS (weave delay left) and for de-
flection in the positive Y direction of the TTS (weave delay right) can be
configured in the data sets. The wait times themselves are set in the in-
struction properties (>>> 9.10 "Statement Properties in [Link]"
Page 99).

Precondition

• The Weave delay option is activated.

• START area

Procedure

1. In the Devices window, open the node of the power source and click
on Data sets. The Properties window is opened.

2. In the Properties window, click on the cogwheel. The Configura-

tion window opens.
3. Open the data set to be configured in the Configuration window.
4. Click on the parameters Weave delay, left and Weave delay, right.
5. Set the values of the parameters as desired in the Properties window.

9.8 Configuring Slope in [Link]

Description

The Slope option can be activated for each channel. The option can be
used to switch between the weld parameters within a defined distance.
If the option is used at ARC OFF, it is additionally possible to switch be-
tween the weld parameters within a defined time and/or distance.
The option can also be activated for the robot velocity. The robot velocity
can be increased or decreased linearly within a defined distance.

Precondition

• The Slope option is activated.

• START area

Procedure

1. In the Devices window, open the node of the power source and click
on Weld modes. The Properties window is opened.

2. In the Properties window, click on the cogwheel. The Configura-

tion window opens.
3. Open the weld mode to be configured in the Configuration window.
4. Click on the desired channel or the robot velocity.
5. Activate the Slope option in the Properties window.

9.9 Transferring the weld velocity to the power source in [Link]

This functionality is only available if it is supported by the power source

used.

98/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Simulation
Description

Transferring the weld velocity to the power source makes it possible to

use the special functions of the power source for correcting the weld pa-
rameters that are dependent on the weld velocity.
In the following cases, the seam may not be welded, or may be welded
incorrectly, if this function is used:
• The function is activated at the power source, but is not configured
or is configured incorrectly.
• The configured gain factor does not match the gain factor of the
power source used.
• The configured signal range does not match the signal range of the
power source used.

Precondition

• The Transfer robot velocity (actual value) option is activated.

• START area

Procedure

1. In the Devices window, open the node of the power source and click
on Device I/O. The Properties window is opened.

2. In the Properties window, click on the cogwheel. The Configura-

tion window opens.
3. Open the node of the power source in the Configuration window.
4. Expand the Digital outputs node.
5. Click on the Transfer robot velocity (actual value) output.
6. Activate the output in the Properties window, assign a free output
range and define the scaling.

9.10 Statement Properties in [Link]

Description

The instruction properties from ArcTech Basic are expanded to include ad-
ditional settings in ArcTech Advanced.
Further information about programming weld instructions in [Link] is
contained in the [Link] Basic documentation.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 99/132

Simulation [Link] Advanced 3.7

“Statement Properties” window

Parameter Description
Weave parameters
Weave pattern Select weave pattern.

• No weaving
• Triangle
• Trapezoid
• Asymmetrical trapezoid
• Spiral
• Double 8
• On seam
• Edge weave bottom
• Edge weave top
(>>> 2.4 "Weave patterns" Page 10)
Default: No weaving
Weave delay, right Wait time for deflection in the positive Y direction of the TTS
Default: 0 ... 2.5 s
Information about the tool-based technological system (TTS) can
be found in the ArcTech Basic documentation.
Weave delay, left Wait time for deflection in the negative Y direction of the TTS
Default: 0 ... 2.5 s
Information about the tool-based technological system (TTS) can
be found in the ArcTech Basic documentation.
ATA error strategies
These parameters are only displayed for ARC ON.
Ignition error strat- Select the desired ignition error strategy.
egy
Weld error strategy Select the desired weld error strategy.
ATA seam length monitoring
These parameters are only used if the option Seam-specific has been selected for seam
length monitoring. The parameters from the Seam length monitoring window are used for
the option Component-specific:
(>>> 7.9 "Defining reference values for the seam length monitoring" Page 60)
Check the seam • Activated: Seam length check is activated.
length
• Deactivated: Seam length check is deactivated.
Allowable negative Enter the permissible negative deviation of the seam length.
length deviation
The weld seam may be no more than this value shorter than the
specified length.
Allowable positive Enter the permissible positive deviation of the seam length.
length deviation
The weld seam may be no more than this value longer than the
specified length.
ATA OnTheFly On settings
These parameters are only displayed for ARC ON and if the On-the-fly activation or deacti-
vation option has been activated in the process settings.

100/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Simulation
Parameter Description
Active Activate or deactivate on-the-fly activation.

• Activated: On-the-fly activation is activated.

• Deactivated: On-the-fly activation is deactivated.
Default: Deactivated
Distance Distance from the programmed position at which the arc is activated.
-20 ... 20 mm
Notice: This parameter can only be edited if the parameter Active is
activated.
ATA OnTheFly Off settings
These parameters are only displayed for ARC OFF and if the On-the-fly activation or deac-
tivation option has been activated in the process settings.
Active Activate or deactivate on-the-fly deactivation.

• Activated: On-the-fly deactivation is activated.

• Deactivated: On-the-fly deactivation is deactivated.
Default: Deactivated
Distance Distance from the programmed position at which the arc is deactiva-
ted.
-20 ... 20 mm
Notice: This parameter can only be edited if the parameter Active is
activated.
ATA PreStart settings
These parameters are only displayed for ARC ON and if the Advance Arc Start option has
been activated in the process settings.
Active Activate or deactivate Advance Arc Start.

• Activated: Advance Arc Start is activated.

• Deactivated: Advance Arc Start is deactivated.
Default: Deactivated
Global time Globally configured lead time for ignition of the arc This parameter
cannot be edited here.
Local active Activate or deactivate individual lead time for Advance Arc Start.

• Activated: The individual lead time for this seam is activated.

• Deactivated: The individual lead time for this seam is deactivated.
Default: Deactivated
Local time Individual lead time for ignition of the arc
0 ... 2000 ms
Notice: This parameter can only be edited if the parameter Local ac-
tive is activated.
ATA Sloping settings
These parameters are only displayed if the Slope option has been activated in the process
settings.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 101/132

Simulation [Link] Advanced 3.7

Parameter Description
Slope option Select the sloping option.
(ARC ON,
ARC SWITCH, • No sloping: Switch between the robot velocity and the weld pa-
ARC Spline) rameters and weave parameters without a transition.
• Sloping over distance: Switch between the robot velocity and
the weld parameters and weave parameters on a linear basis
within a defined distance.
• Sloping distance to next point: Switch between the robot veloci-
ty and the weld parameters and weave parameters on a linear ba-
sis within the distance to the next point.
Notice: The modification of the robot velocity in conjunction with the
Slope option only takes effect between 70 and 130% of the program-
med path velocity. When this limit is reached, the modification of the
robot velocity is limited. Modification of the path velocity causes the
axis accelerations, too, to be adapted accordingly. This can, under un-
favorable circumstances, lead to the robot stopping because the re-
quired acceleration cannot be reached.
Slope option Select the sloping option for ARC OFF.
(ARC OFF)
• No sloping: Switch between the process parameters without a
transition.
• Slope over distance: Switch between the process parameters on
a linear basis within a defined distance. The sloping starts before
reaching the ARC OFF position. At this point, the robot is still in
motion.
• Slope over time: Switch between the process parameters on a
linear basis within a defined time. The sloping starts once the
ARC OFF position is reached and the robot is already stationary.
• Sloping over distance and time: Switch between the process
parameters on a linear basis within a defined distance and within
a defined time. The sloping starts before the ARC OFF position is
reached (distance) and the sloping stops at the ARC OFF position
(time).
Distance This parameter is only displayed if the sloping option Slope over dis-
tance or Sloping over distance and time has been selected.
Enter the length of the switching distance.

• 0 … 100 mm
Time This parameter is only displayed if the sloping option Slope over
time or Sloping over distance and time has been selected.
Enter the length of the switching time.

• 0 … 3000 ms

102/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Simulation
Parameter Description
Slope start options This parameter can only be edited in the following cases:

• The Move back over distance option has been selected for the
ATA Move back settings parameter.
• The sloping option Slope over distance or Slope over time has
been selected.
Select when sloping starts.

• before ArcOff: The sloping starts before reaching the ARC OFF
position. This option is only available if the Slope over distance
sloping option has been selected.
• at ArcOff: The sloping starts once the ARC OFF position is
reached.
• after ArcOff: The sloping starts after reaching the ARC OFF posi-
tion. This option is only available if the Slope over time sloping
option has been selected.
ATA Move back settings
These parameters are only displayed for ARC OFF and if the Move back at ArcOff option
has been activated in the process settings.
ArcOff move back Select options for moving back at ARC OFF.
options
• No move back: The robot stops at ARC OFF.
• Move back over distance: The robot moves back the configured
distance after it has reached ARC OFF. If this option is selected,
it is possible to select when sloping is to start with the parameter
Slope start options.
Move back distance This parameter is only displayed if the option Move back over dis-
tance has been selected.
Enter the distance that the robot is to move back after reaching
ARC OFF.

• 0 … 50 mm
Thermal Control
Add or remove settings for Thermal Control.
If a weave pattern has been configured, 2 data sets are available for Thermal Control. Other-
wise, only 1 data set is available.
Variable name Name of the data set for Thermal Control. The system automatically
generates a name. The name can be overwritten.
Active • Activated: Data set for Thermal Control is activated.
• Deactivated: Data set for Thermal Control is deactivated.
Switch-on threshold Enter the threshold value at which switching is to occur.
If weaving is carried out, the threshold value corresponds to the
weave amplitude. If weaving is not carried out, the threshold value
corresponds to the length.

• With weaving: Range of values depends on the weave amplitude

Example: Deflection = 10, range of values = -10 ... 10
• Without weaving: 0 ... 30 mm
Operating modes Select the weld mode which is to be switched to.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 103/132

Simulation [Link] Advanced 3.7

Parameter Description
Parameter sets Select the weld data set which is to be switched to.
The selected weld data set contains all activated channels for the se-
lected weld mode. The parameters for this are displayed underneath
and can be edited.

104/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Diagnosis
10 Diagnosis

10.1 Displaying data from a LOG file in the ArcTech log viewer

Description

There is an ArcTech log viewer available in WorkVisual that can be used

for graphical and tabular display of the data from a LOG file. The recor-
ded data can be loaded from the robot controller or locally from a data
storage medium, e.g. USB stick or network drive:
(>>> 10.1.1 "Loading data from the robot controller into the log viewer"
Page 106)
(>>> 10.1.2 "Loading locally saved data into the log viewer" Page 106)
The display in the log viewer can be zoomed in and out or panned:
(>>> 10.2 "Panning and zooming the log viewer display" Page 107)
A screenshot of the display in the log viewer can be created and saved.
(>>> 10.3 "Creating a screenshot of the display in the ArcTech log viewer"
Page 107)
The arrow button on the right-hand side of the log viewer can be used to
open a window. In this window, various process data can be displayed in
tabular form; the display can also be configured. The window has 2 tabs:
• Data tab: Here, the recorded values are displayed as a table in ac-
cordance with the selected time marker. The values are divided into
several groups. The display of the data can be customized:
(>>> 10.4 "Configuring the display of data in the ArcTech log viewer"
Page 108)
• Configuration tab: The display of the parameters in the log viewer
can be customized here: (>>> 10.5 "Configuring the display of param-
eters in the ArcTech log viewer" Page 111)

Fig. 10-1: ArcTech log viewer

1 Legend for signals 3 Arrow button

2 Time marker 4 Legend for bits

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 105/132

Diagnosis [Link] Advanced 3.7

10.1.1 Loading data from the robot controller into the log viewer

Description

Data from a LOG file on the robot controller can be displayed graphically
and in tabular form in the ArcTech log viewer.

Precondition

• Network connection to the robot controller

• Robot controller and KUKA smartHMI are running.
• There is at least one LOG file with automatically recorded data
present on the robot controller.
• The Programming and diagnosis workspace has been opened in
WorkVisual.

Procedure

1. Right-click on the robot controller of the desired cell in the Cell view
window and select ArcTech log viewer. The ArcTech package win-
dow opens.
2. Select the desired file and click on OK. The log viewer opens and
loads the data from the selected file.
3. If a further LOG file is to be displayed in another window: Activate
Open in new editor.

10.1.2 Loading locally saved data into the log viewer

Description

Data from LOG files saved locally can be displayed graphically and in tab-
ular form in the ArcTech log viewer. The corresponding configuration file
[Link] is additionally required for the display. This is saved by
default on the robot controller in the directory C:\KRC\ROBOTER\Config
\User\Common. The LOG files are saved by default on the robot controller
in the directory C:\KRC\ROBOTER\LOG\RDM.

Precondition

• At least one LOG file with recorded data has been saved locally.
• The corresponding configuration file [Link] has been saved
locally, ideally in the same directory as the LOG file.
• The Programming and diagnosis workspace has been opened in
WorkVisual.

Procedure

1. Select the menu sequence Editors > Options packages > ArcTech
log viewer.
Alternatively: Click on the Open ArcTech log viewer button in the
button bar. A window for selecting the LOG file is opened.
2. Navigate to the desired LOG file, select it and click on Open. A further
window is opened for selecting the configuration file.
3. Navigate to the corresponding configuration file, select it and click on
Open. The log viewer opens and loads the data from the selected
LOG file.

106/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Diagnosis
10.2 Panning and zooming the log viewer display

Description

The display in the ArcTech Log Viewer can be zoomed in or out and pan-
ned. On the X axis, both diagrams can only be zoomed in and out or pan-
ned jointly. On the Y axis, the diagrams can be zoomed in and out or
panned individually.

Fig. 10-2: ArcTech log viewer – overview

1 X axis 3 1st diagram

2 Y axis 4 2nd diagram

Precondition

• LOG file is opened in the log viewer.

Procedure

To pan:
1. Click in the display and hold down the mouse button.
2. Move the mouse left or right. The display moves with the mouse.
To zoom:
1. Move the mouse pointer onto a diagram. If only the size of the Y axis
is to be changed, move the mouse pointer to the Y axis.
2. Scroll with the mouse wheel:
• Scroll down: display zooms out
• Scroll up: display zooms in
To restore the default view:
1. Right-click in the display.
2. Select Fit to view in the context menu.

10.3 Creating a screenshot of the display in the ArcTech log viewer

Description

A screenshot of the display in the ArcTech log viewer can be created and
saved. The legend can be displayed or hidden for the screenshot.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 107/132

Diagnosis [Link] Advanced 3.7

Precondition

• LOG file is opened in the log viewer.

Procedure

Copying the screenshot to the clipboard:

• Right-click in the display and select Copy screenshot from the con-
text menu. The screenshot is created and copied to the clipboard.
Saving the screenshot:
1. Right-click in the display and select Save screenshot from the context
menu. A window opens.
2. Navigate to the directory in which the screenshot is to be saved.
3. Enter a name and select a file type.
4. Click on Save. The screenshot is created and saved in the selected
directory.
Displaying or hiding the legend:
• Hide: Right-click in the display and select Hide legend from the con-
text menu.
• Display: Right-click in the display and select Show legend from the
context menu.

10.4 Configuring the display of data in the ArcTech log viewer

Description

On the Data tab, the recorded values are displayed as a table in accord-
ance with the selected time marker. The values are divided into several
groups.
The display of the data can be configured:
• The groups can be displayed or hidden as desired.
• The search function can be used to search for specific weld seams,
commands and faults and to display them in the log viewer.
The time marker is set by clicking on the corresponding position in the
display. Furthermore, it is also possible to jump to a specific time marker
by clicking on a specific message or via the search function. Hovering
with the mouse over a parameter displays a tool tip with additional infor-
mation about this parameter. Hovering with the mouse over a message
displays a tool tip with additional information about this message, e.g.
message number, message type and message text.

108/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Diagnosis
Tab

Fig. 10-3: “Data” tab

1 Arrow button for closing the window

2 Buttons for configuration of the display
3 Selected time marker
4 Display of data in groups
5 Display of messages

Buttons

Button Description
Displays or hides the signals group.

Displays or hides the bits group.

Displays or hides the welding process data group.

Displays or hides the welding position data group.

Displays or hides the messages.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 109/132

Diagnosis [Link] Advanced 3.7

Button Description
Opens the search window

Precondition

• LOG file is opened in the log viewer.

Procedure

1. Move the mouse pointer to the arrow on the right-hand side of the log
viewer. If there is a circle enclosing the arrow, the button is active.
2. Click on the button and select the Data tab.
3. Use the corresponding buttons to display or hide the desired groups.
4. Optional: Search for specific weld seams, commands or faults
(>>> 10.4.1 "Using the search function in the ArcTech log viewer"
Page 110).
5. To close the window, move the mouse pointer to the central left-hand
area of the window until a semicircle becomes visible (= button for
closing the window).
6. Click on the button. The window closes.

10.4.1 Using the search function in the ArcTech log viewer

Description

The search function can be used to search for specific weld seams, weld-
ing commands and weld faults and to display them in the log viewer.

Search window

Fig. 10-4: Search window

110/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Diagnosis
Item Description
1 Search function

• Seam: Searches for all weld seams in the LOG file

• Seam with error: Searches for all weld seams in the LOG
file in which a fault has occurred
• Command: Searches for all used welding commands in the
LOG file
• Error: Searches for all weld faults in the LOG file
2 Search parameters

• Seam name: Lists by name all weld seams found

• Weld command: Lists all welding commands found
• Weld error status: Lists all error states found
3 Clicking on the arrow keys jumps to the corresponding position
in the log viewer

Precondition

• LOG file is opened in the log viewer.

• The Data tab is open.

Procedure

1. On the Datatab, click on the button. The search window opens.

2. Select the search function in the Search for: box.
3. Optional: In the box with the search parameters, select a specific weld
seam, welding command or weld fault.
4. Use the arrow keys to jump to the desired position in the log viewer.

10.5 Configuring the display of parameters in the ArcTech log viewer

Description

The display of the parameters can be configured on the Configuration

tab:
• Parameters that are to be displayed in the log viewer can be selected.
• Parameters that are no longer to be displayed in the log viewer can
be removed again.
• For each parameter, it is possible to set how it is to be displayed in
the log viewer, e.g. in which color.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 111/132

Diagnosis [Link] Advanced 3.7

Tab

Fig. 10-5: “Configuration” tab

Item Description
1 Opens the following options:

• Select all: Adds all parameters to the log viewer

• Select none: Removes all parameters from the log viewer
2 Opens the display options
3 Closes the display options
4 Open display options
5 Closes the window
6 Adds parameters to the log viewer
7 Removes parameters from the log viewer

Precondition

• LOG file is opened in the log viewer.

Procedure

1. Move the mouse pointer to the arrow on the right-hand side of the log
viewer. If there is a circle enclosing the arrow, the button is active.
2. Click on the button and select the Configuration tab.
3. Add or remove parameters as required.
4. Modify the display options as required and save the configuration.
(>>> 10.5.1 "Modifying display options for parameters" Page 113)

112/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Diagnosis
5. To close the window, move the mouse pointer to the central left-hand
area of the window until a semicircle becomes visible (= button for
closing the window).
6. Click on the button. The window closes.

10.5.1 Modifying display options for parameters

Description

The following display options can be modified for each parameter:

• Color: Color which the parameter is displayed in the log viewer
• Y factor: Scaling factor in the Y axis with which the parameter is dis-
played in the log viewer (default value: 1)
• Y offset: Offset in the Y axis with which the parameter is displayed in
the log viewer (default value: 0)

• The display options Y factor and Y offset are only possible for sig-
nals.
• If the values of these display options differ from the default values,
this is indicated in the legend.

Precondition

• LOG file is opened in the log viewer.

• The Configuration tab is open.

Procedure

1. Move the mouse pointer to the parameter for which the display
options are to be modified.
2. Click on the button with the arrow that is now displayed on the right-
hand side next to the parameter. The display options are shown.
3. Make the desired settings.
4. Remove the parameter from the log viewer and add it again. The
changes are saved.
5. To close the display options, click on the arrow that is displayed on
the right-hand side next to the parameter.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 113/132

Diagnosis [Link] Advanced 3.7

114/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Messages
11 Messages

11.1 Information about the messages

The “Messages” chapter contains selected messages. It does not cover all
the messages displayed in the message window.

11.2 System messages from module: ARC

11.2.1 ARC 10134

Message code ARC 10134

Message text Current seam: {0} is too short Length: {1} mm. Specified seam
length {2} mm
Message type Error message

Possible cause(s) Cause: Length of the weld seam is outside of the tolerance range
(>>> Page 115)
Solution: Deactivate monitoring of the seam length (>>> Page 115)

Cause: Length of the weld seam is outside of the tolerance range

(>>> Page 116)
Solution: Change specified length of weld seam (>>> Page 116)

Cause: Length of the weld seam is outside of the tolerance range

(>>> Page 116)
Solution: Increase tolerance range for length of weld seam
(>>> Page 117)

Cause: Length of the weld seam is outside of the tolerance range

(>>> Page 117)
Solution: Reteach weld path (>>> Page 117)

Cause: Length of the weld seam is outside of the tolerance range

Description

Seam length monitoring is activated. This has detected that the length of
the weld seam is outside of the configured tolerance range.

Solution: Deactivate monitoring of the seam length

Description

Deactivate seam length monitoring in the inline form.

Precondition

• User group “User”

• T1 mode
• A program is selected.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 115/132

Messages [Link] Advanced 3.7

Procedure

1. Position the cursor in the line containing the weld instruction that is to
be changed.
2. Press the Change button. The inline form for this instruction is
opened.
3. Touch the arrow at Seam in the inline form. The corresponding option
windows are opened.
4. Choose the Seam length monitoring option window.
5. Uncheck the Check seam length box.
6. Save the change with Cmd OK.

Cause: Length of the weld seam is outside of the tolerance range

Description

Seam length monitoring is activated. This has detected that the length of
the weld seam is outside of the configured tolerance range.

Solution: Change specified length of weld seam

Description

Change the specified seam length so that the actual length matches the
specified length.

Precondition

• User group “User”

• T1 mode
• A program is selected.

Procedure

1. Position the cursor in the line containing the weld instruction that is to
be changed.
2. Press the Change button. The inline form for this instruction is
opened.
3. Touch the arrow at Seam in the inline form. The corresponding option
windows are opened.
4. Choose the Seam data option window.
5. Change the value of the Specified seam length parameter as re-
quired.
6. Save the change with Cmd OK.

Cause: Length of the weld seam is outside of the tolerance range

Description

Seam length monitoring is activated. This has detected that the length of
the weld seam is outside of the configured tolerance range.

116/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Solution: Increase tolerance range for length of weld seam

Messages
Description

Increase the tolerance range for the length of the weld seam until the
weld seam length is within the tolerance range.

Precondition

• User group “User”

• T1 mode
• A program is selected.

Procedure

1. Position the cursor in the line containing the weld instruction that is to
be changed.
2. Press the Change button. The inline form for this instruction is
opened.
3. Touch the arrow at Seam in the inline form. The corresponding option
windows are opened.
4. Choose the Seam length monitoring option window.
5. Change the values of the Allowable negative length deviation and
Allowable positive length deviation parameters as required.
6. Save the change with Cmd OK.

Cause: Length of the weld seam is outside of the tolerance range

Description

Seam length monitoring is activated. This has detected that the length of
the weld seam is outside of the configured tolerance range.

Solution: Reteach weld path

Description

Reteach the points on the weld path so that the actual length of the weld
seam matches the specified length. This is done by moving to each de-
sired new position and overwriting the old point with the new position.

Precondition

• A program is selected.
• Operating mode T1

Procedure

1. Move the TCP to the desired position.

2. Position the cursor in the line containing the motion instruction that is
to be changed.
3. Press Change. The inline form for this instruction is opened.
4. For PTP and LIN motions: Press Touch Up to accept the current po-
sition of the TCP as the new end point.
For CIRC motions:
• Press Teach Aux to accept the current position of the TCP as the
new auxiliary point.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 117/132

Messages [Link] Advanced 3.7

• Or press Teach End to accept the current position of the TCP as

the new end point.
5. Confirm the request for confirmation with Yes.
6. Save change by pressing Cmd Ok.

11.2.2 ARC 10135

Message code ARC 10135

Message text Seam length cannot be determined. Seam: {0}
Message type Error message

Possible cause(s) Cause: Advanced Error Recovery strategy has been executed
(>>> Page 118)
Solution: Acknowledge message and resume program
(>>> Page 118)

Cause: Advanced Error Recovery strategy has been executed

(>>> Page 119)
Solution: Deactivate Advanced Error Recovery strategy
(>>> Page 119)

Cause: Advanced Error Recovery strategy has been executed

Description

The Advanced Error Recovery strategy has been used and executed in
conjunction with seam length monitoring. If the Advanced Error Recovery
strategy has been used following an error on the seam, the length of the
weld seam cannot be determined.
If the Advanced Error Recovery strategy is no longer to be used, this can
be deactivated.
If the Advanced Error Recovery strategy is still to be used in response to
errors, the message can be acknowledged without an additional operator
action.

Solution: Acknowledge message and resume program

Description

The program can be resumed once the message has been acknowledged.

Procedure

1. Acknowledge the message with OK.

2. Operating mode T1 or T2: Press and hold down the Start key to re-
sume the program.
AUT EXT mode: Send the Start signal from the higher-level controller
to resume the program.

118/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Cause: Advanced Error Recovery strategy has been executed

Messages
Description

The Advanced Error Recovery strategy has been used and executed in
conjunction with seam length monitoring. If the Advanced Error Recovery
strategy has been used following an error on the seam, the length of the
weld seam cannot be determined.
If the Advanced Error Recovery strategy is no longer to be used, this can
be deactivated.
If the Advanced Error Recovery strategy is still to be used in response to
errors, the message can be acknowledged without an additional operator
action.

Solution: Deactivate Advanced Error Recovery strategy

Description

If the Advanced Error Recovery strategy is no longer to be used, this can

be deactivated. The grouping of the weld seams must be canceled for
this. The grouping is canceled by removing the instructions ARC group
startand ARC group end.
After deactivating the Advanced Error Recovery strategy, the length of the
weld seam can be determined.

Precondition

• “Expert” user group

• Program has been opened.

Procedure

1. Place the cursor in the line with the ARC group start instruction.
2. Select the menu sequence Edit > Delete.
3. Answer the request for confirmation with Yes.
4. Place the cursor in the line with the ARC group end instruction.
5. Select the menu sequence Edit > Delete.
6. Answer the request for confirmation with Yes.
7. Close the program. The changes are saved.

11.2.3 ARC 10139

Message code ARC 10139

Message text Current seam: {0} is too long Length: {1} mm. Specified seam length
{2} mm
Message type Error message

Possible cause(s) Cause: Length of the weld seam is outside of the tolerance range
(>>> Page 120)
Solution: Deactivate monitoring of the seam length (>>> Page 120)

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 119/132

Messages [Link] Advanced 3.7

Cause: Length of the weld seam is outside of the tolerance range

(>>> Page 120)
Solution: Change specified length of weld seam (>>> Page 121)

Cause: Length of the weld seam is outside of the tolerance range

(>>> Page 121)
Solution: Increase tolerance range for length of weld seam
(>>> Page 121)

Cause: Length of the weld seam is outside of the tolerance range

(>>> Page 122)
Solution: Reteach weld path (>>> Page 122)

Cause: Length of the weld seam is outside of the tolerance range

Description

Seam length monitoring is activated. This has detected that the length of
the weld seam is outside of the configured tolerance range.

Solution: Deactivate monitoring of the seam length

Description

Deactivate seam length monitoring in the inline form.

Precondition

• User group “User”

• T1 mode
• A program is selected.

Procedure

1. Position the cursor in the line containing the weld instruction that is to
be changed.
2. Press the Change button. The inline form for this instruction is
opened.
3. Touch the arrow at Seam in the inline form. The corresponding option
windows are opened.
4. Choose the Seam length monitoring option window.
5. Uncheck the Check seam length box.
6. Save the change with Cmd OK.

Cause: Length of the weld seam is outside of the tolerance range

Description

Seam length monitoring is activated. This has detected that the length of
the weld seam is outside of the configured tolerance range.

120/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Solution: Change specified length of weld seam

Messages
Description

Change the specified seam length so that the actual length matches the
specified length.

Precondition

• User group “User”

• T1 mode
• A program is selected.

Procedure

1. Position the cursor in the line containing the weld instruction that is to
be changed.
2. Press the Change button. The inline form for this instruction is
opened.
3. Touch the arrow at Seam in the inline form. The corresponding option
windows are opened.
4. Choose the Seam data option window.
5. Change the value of the Specified seam length parameter as re-
quired.
6. Save the change with Cmd OK.

Cause: Length of the weld seam is outside of the tolerance range

Description

Seam length monitoring is activated. This has detected that the length of
the weld seam is outside of the configured tolerance range.

Solution: Increase tolerance range for length of weld seam

Description

Increase the tolerance range for the length of the weld seam until the
weld seam length is within the tolerance range.

Precondition

• User group “User”

• T1 mode
• A program is selected.

Procedure

1. Position the cursor in the line containing the weld instruction that is to
be changed.
2. Press the Change button. The inline form for this instruction is
opened.
3. Touch the arrow at Seam in the inline form. The corresponding option
windows are opened.
4. Choose the Seam length monitoring option window.
5. Change the values of the Allowable negative length deviation and
Allowable positive length deviation parameters as required.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 121/132

Messages [Link] Advanced 3.7

6. Save the change with Cmd OK.

Cause: Length of the weld seam is outside of the tolerance range

Description

Seam length monitoring is activated. This has detected that the length of
the weld seam is outside of the configured tolerance range.

Solution: Reteach weld path

Description

Reteach the points on the weld path so that the actual length of the weld
seam matches the specified length. This is done by moving to each de-
sired new position and overwriting the old point with the new position.

Precondition

• A program is selected.
• Operating mode T1

Procedure

1. Move the TCP to the desired position.

2. Position the cursor in the line containing the motion instruction that is
to be changed.
3. Press Change. The inline form for this instruction is opened.
4. For PTP and LIN motions: Press Touch Up to accept the current po-
sition of the TCP as the new end point.
For CIRC motions:
• Press Teach Aux to accept the current position of the TCP as the
new auxiliary point.
• Or press Teach End to accept the current position of the TCP as
the new end point.
5. Confirm the request for confirmation with Yes.
6. Save change by pressing Cmd Ok.

11.2.4 ARC 10135

Message code ARC 10135

Message text SeamLength: Target seam length missing Seam/component: {0}/{1}
[*Target] / Taught / Actual: {2} mm
Message type Error message

Possible cause(s) Cause: Specified weld seam length has not been entered
(>>> Page 123)
Solution: Enter specified length of weld seam (>>> Page 123)

122/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Cause: Specified weld seam length has not been entered

Messages
Description

The specified weld seam length has not been entered in the inline form
ARC ON or ARC SPLINE.

Checking instructions

1. Select the menu sequence Commands > ArcTech > ARC ON or

ARC SPLINE.
2. Touch the arrow at Seam in the inline form.
3. In the option window Seam data, check whether a value greater than
0 has been entered for parameter Specified seam length.

Solution: Enter specified length of weld seam

Description

Enter the specified length of the weld seam in the Seam data option .

Precondition

• User group “User”

• T1 mode
• A program is selected.

Procedure

1. Position the cursor in the line containing the weld instruction that is to
be changed.
2. Press the Change button. The inline form for this instruction is
opened.
3. Touch the arrow at Seam in the inline form.
4. Choose the Seam data option window.
5. Enter the specified length of the weld seam for the parameter Speci-
fied seam length.
6. Save the change with Cmd OK.

11.2.5 ARC 10156

Message code ARC 10156

Message text SeamLength: Start point and end point are identical Seam/compo-
nent: {0}/{1} Target / [*Taught] / Actual: {2} mm
Message type Error message

Possible cause(s) Cause: Positions of ARC ON and ARC OFF are identical
(>>> Page 124)
Solution: Reteach ARC ON or ARC OFF (>>> Page 124)

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 123/132

 [Link] Advanced 3.7

Cause: Positions of ARC ON and ARC OFF are identical

Messages

Description

The positions of the points taught with the inline forms ARC ON and ARC
OFF are identical. As a result, the weld seam has no length and therefore
cannot be determined.

Solution: Reteach ARC ON or ARC OFF

Description

The positions of ARC ON and ARC OFF must be spaced apart. The co-
ordinates of one of the two points must be modified. This is done by mov-
ing to the new position and overwriting the old point with the new position.

Precondition

• A program is selected.
• Operating mode T1

Procedure

1. Move the TCP to the desired position.

2. Position the cursor in the line containing the weld instruction that is to
be changed.
3. Press the Change button. The inline form for this instruction is
opened.
4. Press the Touch up button to apply the current position of the TCP as
the new end point.
5. Answer the request for confirmation with Yes.
6. Save the change with Cmd OK.

124/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Appendix
12 Appendix

12.1 User-specific functions

ArcTech Advanced contains a large number of functions that the user can
adapt individually to his requirements.
The function calls are located in the file [Link] in the
directory R1\TP\ArcTech\ArcUser.
Additionally programmed functions are the responsibility of the program-
mer. The manufacturer cannot be held liable for any resulting errors or
problems with the software.

12.1.1 ATA_UsrPreStrikeParams

Description

The function ATA_UsrPreStrikeParams is called before internal definition

of the ignition parameters, i.e. ATA_UsrPreStrikeParams comes before the
function Arc_DefineStrikeParams.

Syntax

ATA_UsrPreStrikeParams(ArcDat)

Explanation of the syntax

Element Description
ArcDat Weld data set
Type: stArcDat (IN)

12.1.2 ATA_UsrPostStrikeParams

Description

The function ATA_UsrPostStrikeParams is called after internal definition of

the ignition parameters, i.e. ATA_UsrPostStrikeParams comes after the
function Arc_DefineStrikeParams.

Syntax

ATA_UsrPostStrikeParams(ArcDat)

Explanation of the syntax

Element Description
ArcDat Weld data set
Type: stArcDat (IN)

12.1.3 ATA_UsrPre_ArcOn

Description

The function ATA_UsrPre_ArcOn is called before ignition, i.e.

ATA_UsrPre_ArcOn comes before the instructions to ignite the arc.

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 125/132

Appendix [Link] Advanced 3.7

Syntax

ATA_UsrPre_ArcOn(ArcDat, SeamName)

Explanation of the syntax

Element Description
ArcDat Weld data set
Type: stArcDat (IN)
SeamName Seam name
Type: CHAR (IN)

12.1.4 ATA_UsrPost_ArcOn

Description

The function ATA_UsrPost_ArcOn is called after ignition, i.e. ATA_Usr-

Post_ArcOn comes after the instructions to ignite the arc.

Syntax

ATA_UsrPost_ArcOn(ArcDat, SeamName)

Explanation of the syntax

Element Description
ArcDat Weld data set
Type: stArcDat (IN)
SeamName Seam name
Type: CHAR (IN)

12.1.5 ATA_UsrPre_ArcSwi

Description

The function ATA_UsrPre_ArcSwi is called before switching of the weld

parameters, i.e. ATA_UsrPre_ArcSwi comes before the instructions for
switching the parameters.

Syntax

ATA_UsrPre_ArcSwi(ArcDat)

Explanation of the syntax

Element Description
ArcDat Weld data set
Type: stArcDat (IN)

126/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Appendix
12.1.6 ATA_UsrPost_ArcSwi

Description

The function ATA_UsrPost_ArcSwi is called after switching of the weld pa-

rameters, i.e. ATA_UsrPost_ArcSwi comes after the instructions for switch-
ing the parameters.

Syntax

ATA_UsrPost_ArcSwi(ArcDat)

Explanation of the syntax

Element Description
ArcDat Weld data set
Type: stArcDat (IN)

12.1.7 ATA_UsrPre_ArcOff

Description

The function ATA_UsrPre_ArcOff is called before the arc is extinguished,

i.e. ATA_UsrPre_ArcOff comes before the instructions to extinguish the
arc.

Syntax

ATA_UsrPre_ArcOff(ArcDat)

Explanation of the syntax

Element Description
ArcDat Weld data set
Type: stArcDat (IN)

12.1.8 ATA_UsrPost_ArcOff

Description

The function ATA_UsrPost_ArcOff is called after the arc is extinguished,

i.e. ATA_UsrPost_ArcOff comes after the instructions to extinguish the arc.

Syntax

ATA_UsrPost_ArcOff(ArcDat)

Explanation of the syntax

Element Description
ArcDat Weld data set
Type: stArcDat (IN)

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 127/132

Appendix [Link] Advanced 3.7

12.1.9 ATA_UsrPreRestart

Description

The function ATA_UsrPreRestart is called before a restart, i.e. ATA_Usr-

PreRestart comes before the function StartStateSequence.

Syntax

ATA_UsrPreRestart()

12.1.10 ATA_UsrPostRestart

Description

The function ATA_UsrPostRestart is called after a restart, i.e. ATA_Usr-

PostRestart comes after the function StartStateSequence.

Syntax

ATA_UsrPostRestart()

12.1.11 ATA_UsrErrorHandle

Description

The function ATA_UsrErrorHandle is called before an error state is pro-

cessed, i.e. ATA_UsrErrorHandle comes before the function ErrorState.

Syntax

ATA_UsrErrorHandle()

12.1.12 ATA_UsrPreSplStart

Description

The function ATA_UsrPreSplStart is called when the error strategy Back-

ToSplineStart is used before the acknowledgement message, i.e.
ATA_UsrPreSplStart comes before the function ATE_IgnitReactions.

Syntax

ATA_UsrPreSplStart()

12.1.13 ATA_UsrPostSplStart

Description

The function ATA_UsrPostSplStart is called when the error strategy Back-

ToSplineStart is used after the acknowledgement message, i.e. ATA_Usr-
PostSplStart comes after the function ATE_IgnitReactions.

Syntax

ATA_UsrPostSplStart()

128/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

KUKA Service
13 KUKA Service

13.1 Requesting support

Introduction

This documentation provides information on operation and operator con-

trol, and provides assistance with troubleshooting. For further assistance,
please contact your local KUKA subsidiary.

Information

The following information is required for processing a support re-

quest:
• Description of the problem, including information about the duration
and frequency of the fault
• The greatest possible amount of information about the hardware and
software components of the overall system
The following list gives an indication of the information which is rele-
vant in many cases:
‒ Model and serial number of the kinematic system, e.g. the manip-
ulator
‒ Model and serial number of the controller
‒ Model and serial number of the energy supply system
‒ Designation and version of the system software
‒ Designations and versions of other software components or modifi-
cations
‒ System software diagnosis package
Additionally for KUKA Sunrise: Existing projects including applica-
tions
For versions of KUKA System Software older than V8: Archive of
the software (Diagnosis package is not yet available here.)
‒ Application used
‒ External axes used

13.2 KUKA Customer Support

The contact details of the local subsidiaries can be found at:

[Link]/customer-service-contacts

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 129/132

KUKA Service [Link] Advanced 3.7

130/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023

 [Link] Advanced 3.7

Index Ignition fault...................................................... 8

Ignition faults............................................ 33, 94
Installation.......................................................21
Installing
A via smartHMI............................................. 21
Additional options, activating......................... 28 via WorkVisual...........................................23
Advance Arc Start (optional)..........................14 Installing ArcTech Advanced................... 21, 23
Advance Arc Start, programming.................. 74 Intended use...................................................10
Advanced Error Recovery strategy Introduction....................................................... 7
(optional)......................................................... 16 IR_STOPMESS........................................ 34, 94
Amplitude........................................................ 11
Appendix....................................................... 125
ArcTech log viewer, creating a screenshot. 107
ArcTech log viewer, displaying data............ 105
K
Knowledge, required.........................................7
ATA_UsrErrorHandle, function..................... 128
KUKA Customer Support............................. 129
ATA_UsrPost_ArcOff, function......................127
KUKA Service...............................................129
ATA_UsrPost_ArcOn, function..................... 126
ATA_UsrPost_ArcSwi, function.................... 127
ATA_UsrPostRestart, function...................... 128
ATA_UsrPostSplStart, function..................... 128 L
ATA_UsrPostStrikeParams, function............ 125 Licenses............................................................8
ATA_UsrPre_ArcOff, function....................... 127 Log viewer, configuring display (data).........108
ATA_UsrPre_ArcOn, function....................... 125 Log viewer, configuring display
ATA_UsrPre_ArcSwi, function...................... 126 (parameters).................................................. 111
ATA_UsrPreRestart, function........................128 Log viewer, modifying display options......... 113
ATA_UsrPreSplStart, function...................... 128 Log viewer, search function......................... 110
ATA_UsrPreStrikeParams, function..............125 Log viewer, search window.......................... 110

C M
Compatibility................................................... 21 Media faults..............................................33, 94
Configuration...................................................27 Messages......................................................115
Configuration, multiple power sources.......... 27 Misuse.............................................................10
Monitoring the seam length (optional)...........15
Moving back at ArcOff (optional)...................15
D
Diagnosis...................................................... 105
Diagnosis package....................................... 129 O
Documentation, industrial robot....................... 7 Offline optimization......................................... 52
Online optimization......................................... 48
Online optimization, instructions.................... 50
E Open source..................................................... 8
EK module editor............................................57 Operation........................................................ 47
EK module editor, Expert mode.................... 59
Error strategies............................................... 33
P
Parameters, inline line....................................55
F Periphery faults........................................ 33, 94
Fronius TPS/i TWIN interface........................17 PLC................................................................... 8
Functions.......................................................... 9 Power source, selecting................................. 63
Functions, user-specific................................125 Product description...........................................9
Programming.................................................. 63
Programs, transferring....................................57
Programs, transferring (Expert mode)........... 59
G
Grouping, weld seams................................... 81
Grouping, weld seams to a part....................83
R
Range of values for weave delay,
configuring...................................................... 34
I Robot errors............................................. 34, 94

KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023 [Link] | 131/132

[Link] Advanced 3.7

S Weld velocity, transferring to the power

Safety..............................................................19 source............................................................. 37
Safety instructions............................................ 7 Welding parameters, switching...................... 13
Seam length monitoring, configuring inputs
and outputs.....................................................38
Seam length monitoring, defining reference
values............................................................. 60
Seam length monitoring, programming......... 78
Seam number, configuring inputs and
outputs............................................................ 35
Seam weld enable by PLC (optional)........... 15
Seam weld enable by PLC, programming.... 77
Settings, advanced......................................... 65
Simulation....................................................... 89
Slope (optional).............................................. 14
Slope, configuring...........................................35
Spiral, weave pattern..................................... 43
Start-up........................................................... 25
Status keys..................................................... 47
Subprograms, creating................................... 83
Support request............................................ 129
System requirements......................................21
Hardware................................................... 21
Software.....................................................21

T
Tack welding function (optional).................... 16
Tack welding function, programming............. 85
Target group..................................................... 7
Terms used....................................................... 8
Thermal Control (optional)............................. 13
Thermal Control, programming...................... 75
Training............................................................. 7
Triangle, weave pattern..................................42

U
Uninstalling, ArcTech Advanced.............. 22, 24
Updating ArcTech Advanced................... 21, 23

W
Warnings........................................................... 7
Weave delay (optional).................................. 13
Weave delay, programming........................... 64
Weave length.................................................. 11
Weave pattern, height.................................... 11
Weave patterns.............................................. 10
Weave patterns, defining............................... 40
Weave patterns, structure.............................. 40
Weld data set editor.......................................53
Weld data sets, editing.................................. 53
Weld fault..........................................................8
Weld faults............................................... 33, 94
Weld modes....................................................40
Weld seams, grouping................................... 81
Weld velocity............................................ 10, 11

132/132 | [Link] KST ArcTech Advanced 3.7 V1 | Issued: 02.11.2023