How to Successfully Implement a Robotic Welding System

In today’s marketplace, companies continue to automate portions, if not all of their welding operation. The reasons are many: to address a shortage of skilled labour, to improve quality, to decrease waste and rework, and/or to increase productivity — in short, to seek benefits that provide a competitive edge.

Not all companies, however, are successful in the process. Those beginning without a well-thought-out roadmap risk losing valuable time during implementation and operation and may miss the full benefits provided by a robotic welding system.

Conversely, companies that begin with a careful examination of their welding needs and existing processes — and develop a detailed plan with clearly established goals — are more likely to achieve success. Planning should include an accurate assessment of parts, work flow and the current facility, as well as an evaluation of the potential return on investment (ROI).

Companies should not only look at current needs, but also consider future opportunities to determine the best robotic welding system to scale for potential growth or changes to products they may produce later.

Why robotic welding?

In an economy where orders are increasing and welding positions are hard to fill, robotic welding can help maintain or increase productivity. In a semi-automatic welding operation, labour accounts for approximately 70 to 85% of the total cost of welding a part. A robotic welding system can reduce that cost and increase throughput by completing the work of two to four people in the same amount of time — however, companies still require skilled welding operators to oversee the robotic cell.
In addition, the national and international marketplace has become increasingly competitive, with companies seeking contracts from any number and any size of business. Investing in welding automation can help set up a company on the path to compete at a global level.

Here are additional benefits:

1. With the right robotic welding system, companies can improve first-pass weld quality and reduce the amount of rework or scrap parts. Depending on the welding wire and mode used, the system may also minimize or eliminate spatter, which reduces the need to apply anti-spatter compound or perform post-weld clean up.

2. A robotic welding system can reduce over-welding, a common and costly occurrence associated with the semi-automatic process. For example, if a company has welding operators who weld a bead that is 1/8-inch too large on every pass, it can potentially double the cost of welding (both for labour and for filler metals). Over-welding may also adversely affect the integrity of the part.

3. Companies can reallocate skilled employees to other production areas to fill open positions and gain additional productivity and efficiencies.

4. Welding automation can also provide a competitive advantage as it may be considered attractive to customers. The improvement in quality may prompt new customers to place orders or lead existing customers to increase their orders with the objective of growing their own businesses.

5. Finally, robots are fast. They don’t have to weld all day to be profitable. That fact improves productivity and the bottom line by making the same number of parts as in a semi-automatic process in less time.

Repeatability is key

When considering an investment in a robotic welding cell, companies should have part blueprints, preferably in an electronic format. Without a blueprint, the part likely won’t meet the basic criterion necessary to ensure repeatability during the manufacturing process.

A robotic welding system welds in the same place every time. When a part’s tolerances are unable to hold its position — if there are gap and/or fit-up issues — the company will simply be automating a broken process. This can increase rework or scrap.

If a company currently relies on its welding operators to compensate for fit-up issues, it will need to look upstream in the manufacturing process to establish consistency. What processes need to change so these welding operators send uniform parts downstream? Or, if vendors supply the parts, can they guarantee consistency?

Assess the workflow

A streamlined workflow is one of robotic welding’s benefits. To achieve it, companies need to look beyond the weld cell, making certain the facility can accommodate a smooth flow of materials. It makes little sense, for example, to invest in a robotic welding system to increase productivity, but then place it in a corner where employees may have to handle each part multiple times.

There should be a consistent supply of parts to avoid moving a bottleneck from one area to another. It is also important to look at the expected cycle time of the robot. Can personnel supply parts to keep up with the demand of the robot’s cycle time? If not, the supply of parts, including where the company stores them and how it moves them, will need to be adjusted. Otherwise, a robot will sit idle waiting for components to come down the line.

Robotics or fixed automation?

There is no single welding automation solution that is best for every company. When a company is considering the investment, it should factor in the expected lifetime of the job, the cost of tooling and the flexibility the equipment offers.

Fixed automation is the most efficient and cost-effective way to weld parts with simple, repetitive, straight welds or round welds, where the part is rotated with a positioner. If a company wants to reuse the equipment when the current job ends, however, a robotic welding system offers more flexibility. A single robot can store programs for multiple jobs, so it may be able to handle the tasks of several fixed-automation systems.

There is a certain volume of parts that justify the investment of welding automation for each company. An accurate assessment of goals and workflow can help determine what that volume is. If a company makes only small runs of parts, robotic welding becomes more challenging. But, if a company can identify two or three components that can be automated, a robot can be programmed to manufacture those parts, offering greater versatility and boosting productivity. This may benefit even small companies that may not have significant volume of a single part.

Although a robot is more expensive than a fixed-automation system, it is important to consider the cost of the tooling before deciding between the two. Fixed automation systems can become quite expensive if they require extensive changes to retool a new part so it can be welded consistently.

Consider the available space

The physical footprint for a robotic welding system and the area needed for parts to flow into the welding cell is typically greater than that of a semi-automatic welding operation. The available space needs to be adequate for the robot, welding power source and other equipment. This helps minimize the need to customize products, such as cables, nozzle cleaning stations (or reamers) or the robotic MIG gun to fit the work envelope.

A company with less space can still make welding automation work. One option is to purchase fewer pieces of robotic welding equipment that are capable of performing multiple tasks, such as material handling or vision/scanning systems.

A third-party integrator can help determine whether a facility suits the installation of a robotic welding system. System integrators are knowledgeable about facility modifications, including important safety regulations that apply in a company’s region, country or state — in addition to those specified by OSHA and RIA (Robotic Industries Association).

Integrators and equipment selection

In addition to offering advice on facility modifications and helping a company select the right robot, a robotic systems integrator or welding automation specialist can:

1. Help determine if parts are suitable for automation, and, if not, what is required to make them suitable

2. Analyze the workflow and facility to identify potential roadblocks

3. Analyze the true costs involved with the investment, including facility updates and tooling

4. Determine the potential payback of the investment

5. Help identify goals and develop a precise plan and timetable to achieve those goals

6. Explain automation options and help select those that best fit the company’s needs

7. Help select a welding equipment that has the flexibility to maximize travel speed, minimize spatter, eliminate over-welding, provide great arc stability and increase first-pass weld quality

Integrators can also help select additional equipment for the robotic welding cell, including positioners, tooling, the robotic MIG gun, welding wire and peripherals. Each item serves a distinct function.

The positioner turns, rotates or otherwise moves the part into an optimal position for welding. In many cases, this involves moving the part so that the system can weld in a flat position for optimal deposition efficiency. A positioner can also allow for coordinated motion between the robot and weldment.

The tooling holds the part in place during welding and is a critical component of a robotic welding system. The robot arm and robotic MIG gun travel a programmed path each cycle. If the weld joint is out of place because the part is misaligned, it can result in inadequate fusion or penetration and rework or scrap. It is important to design the tooling correctly upfront when investing in a robotic welding cell and monitor it for mechanical wear or heat distortion once it has been put into operation. This helps ensure consistent part fit up so that weld quality doesn’t suffer.

The robotic MIG gun should never be an afterthought when considering an investment in welding automation, nor should the welding wire. Both can have a significant impact on productivity and profitability. An integrator can help with the selection based on how the gun and wire perform in conjunction with the rest of the system’s components. The gun will be subject to intense heat and spatter, so it must be durable. It also needs to be the appropriate size to maneuver around the tooling and gain proper joint access.

Finally, peripherals, such as reamers, an anti-spatter sprayer and wire cutter are good options to discuss with an integrator prior to making the investment in welding automation. These devices can improve uptime and welding performance by keeping the welding gun consumables free of spatter, operators out of the weld cell and providing consistent wire stickout during welding.

Employee training

Companies cannot simply purchase a robotic welding system and let it go. They need a welding operator or other employee skilled in robotic welding programming. This will likely involve additional training to upgrade his or her skill sets. The good news is, programming a robot today is much quicker than in the past. Simplified teach pendants, along with the availability of desktop programming, help expedite the process and reduce downtime. Despite the ease of programming, however, companies may need to alleviate some existing tasks to allow time for the employee to oversee the robotic welding cell without becoming overloaded with too many responsibilities.

Most robot OEMs offer a weeklong training course explaining how to operate the equipment. This course, followed by a week of advanced programming, is recommended when implementing welding automation.

Justifying the expense and calculating payback

If the personnel investigating the prospect of robotic welding determine it’s a good fit, they will likely need to justify the investment to upper management or an owner. Calculating the potential payback is essential. There are several steps to consider.

First, determine whether the volume of parts the company needs to produce requires the speed of welding automation. Remember, the key benefit of a robotic welding system is the ability to produce high volumes of quality welds or in smaller facilities to offer the flexibility to weld smaller volumes of multiple parts.

Calculate payback by assessing the current volume of semi-automatic parts and cycle times. Compare these to the potential cycle times of a robotic welding system. Again, an integrator or welding automation specialist can help. Establishing the comparison is critical to estimating the potential return on investment.

That said, even if a company will produce the same number of parts with a robot, it could justify the investment by the amount of labour it can reallocate elsewhere in the operation for jobs that boost production, eliminate bottlenecks or increase quality. For example, a company could utilize the skills of semi-automatic welding operators to complete challenging welds that are too complicated for a robot to manage.

It’s important to factor the bulk cost of shielding gas and welding wire when looking at the potential payback. While there is an initial cost for a shielding gas/manifold system, it can help optimize a company’s robotic welding capabilities in the long term by minimizing downtime for cylinder changeover. The same is true for welding wires. The larger drums — typically ranging from 500 to 1500 pounds — can further reduce costs in a robotic welding cell since they require fewer changeovers and often come with purchasing discounts.

Companies need to keep in mind that the benefits of robotic welding can be significant. However, those benefits come at an upfront price. Many companies, especially smaller ones or those that frequently change production lines, need a faster payback — no more than 12 to 15 months is common to justify the investment. If a company will have the same production needs for many years, it can typically justify a longer payback period. Management and owners should discuss their payback goals with a trusted robotic welding integrator as part of the assessment process. 

Improving Welding Automation Safety With Risk Assessment and Training

Robotic welding systems continue to gain in popularity due to their ability to increase productivity, improve quality and decrease costs in the right application. But they also offer a way to address a shortage of skilled labor for manual operations. Welding automation provide companies with a means of staying competitive in a demanding marketplace, while using their existing and potential workforce to oversee the weld cell.

With more and more robotic welding systems being implemented — the Robotics Industries Association (RIA) cited that 20% of all industrial applications had robotic welding cells as of 2017 — comes the need for increased attention to safety. From the robotic welding gun and peripherals to the robot itself, following safety best practices is essential. 

Robotic welding safety hazards and resources

Statistically, welding automation is safer than manual or semi-automatic welding. However, operators overseeing the robotic welding cell must still remain vigilant. This is particularly true when performing nonstandard operations; these include programming, maintenance and any other tasks that involve direct human interaction with the robot. 

Conducting a thorough welding risk assessment helps identify potential safety hazards associated with a specific robotic welding system (whether it is a pre-engineered or custom cell) and is a critical first step in establishing a safer welding environment. This assessment provides a baseline for implementing solutions for identified risks and establishing appropriate welding safety training. In addition, it helps companies maintain compliance with safety standards, which most importantly protects employees but also protects the bottom line. Noncompliance and/or safety violations that can lead to injury become can be costly in terms of fines and workers’ compensation. 

External Resources

Companies can obtain welding safety resources through the American Welding Society (AWS), including Safety in Welding, Cutting, and Allied Processes, ANSI Standard Z49.1, a free download at aws.org. The National Fire and Protection Association (NFPA) also offers resources. RIA follows American National Standards Institute (ANSI) standards and offers safety seminars and webinars. RIA also provides information on industrial machinery and guarding, as well as guidelines to help companies, including the American National Standard for Industrial Robots and Robot Systems – Safety Requirements, ANSI/RIA R15.06-2012. The Occupational Safety and Health Administration (OSHA) is another valuable safety resource.

Many robotic welding integrators or robotic welding system manufacturers offer training for the safe use of their equipment, including how to test safety functions and at what frequency. They also provide manuals and safety standards for their systems. It is critical to read and follow these thoroughly.

Safe use of robotic welding guns, consumables and reamers

Manufacturers of robotic MIG welding guns often integrate design elements into these products to aid in their safe use. These elements are intended to protect operators during routine maintenance and minimize or eliminate the need to enter the weld cell to complete tasks.

For example, guns that are compatible with front-loading liners help improve safety in a robotic welding cell. These liners can be installed from outside the weld cell — there is no need to climb over tooling or maneuver around the robot to complete replacement. Operators or maintenance personnel also don’t need to remove electrical connections to replace components during the process.

An insulating disc is another important safety feature in select guns. It helps protect operators from the welding current during maintenance and protects the robot from the current, limiting potential damage.

In addition to integrated safety features, there are some key best practices for working with robotic welding guns, consumables and reamers (or nozzle cleaning stations). First and foremost, always de-energize the robotic welding system when installing a robotic MIG gun or consumables, and follow all lockout/tagout procedures.

When possible, it’s ideal to have a window or opening that allows consumables to be changed or inspected from outside the weld cell.

When possible, it’s ideal to have a window or opening that allows consumables to be changed or inspected from outside the weld cell. If this isn’t feasible, programming the robot to stop near the weld cell door simplifies consumable changeover and eliminates the need for the operator to enter the cell, maneuver around tooling or climb on anything to complete the job.

Personal Protective Equipment (PPE)

The appropriate personal protective equipment (PPE) is also important when changing over consumables or the welding wire. The nozzle and contact tip may be hot, and there is the risk of the welding wire puncturing the operator. Leather or other thick work gloves are a must, and safety glasses should be worn at all times. Always use the proper tool to change over the nozzle and contact tip. We recommend a pair of welpers.

When performing maintenance on a reamer, begin by resetting the equipment to a home state, de-energizing it and following lockout/tagout procedures. Be certain there is no supply of air or electricity to the reamer. When changing over cutter blades, always wear gloves and use two wrenches to remove and install them. Reset the reamer to a home state when finished. This is an important last step, as the reamer will automatically complete a cycle as soon as it receives a start signal and is reenergized.

Navigating the robotic welding cell safely

Welding operators and maintenance personnel should familiarize themselves with the emergency stops on a robotic welding system as a first safety step. The number and location of these stops varies by system. For example, welding cells typically have an operator station emergency stop that ceases all robot functions and turns off the robot servo power, along with an emergency stop on the teach pendant. Operators should test these emergency stops periodically, although testing too frequently is stressful on the mechanics of the robotic welding system.

Understanding brake release procedures is also critical. RIA sets standard requirements for these; however, every robotic welding system is different, and the location of the override buttons may vary.

As when interacting with a robotic MIG welding gun, consumables or reamer, always follow proper lockout/tagout procedures before entering the robotic welding cell. Many systems have multiple lockout/tagout locations that are indicated by stickers. Some pre-engineered welding cells feature sliding programming access doors with magnetic keys that indicate that they are fully open and ready to be locked out prior to maintenance, helping to prevent pinch points or a trap hazard.

A built-in awareness barrier in pre-engineered cells is another means of aiding operator safety. This hooped barrier inside the weld cell covers the sweep area of the indexing table. Its purpose is to protect the operator from pinch points during teaching operations by separating the him or her from the space between the robot and the wall of the weld cell.

Unenclosed Robotic Systems

For robotic systems that are not enclosed, guards around the cell are necessary. These can take the form of physical barriers, like perimeter fencing or light curtains and/or electronic guarding such as area scanners that stop the robot when an operator is present in a specific area of the system.

Lastly, robotic integrators and robotic welding system manufacturers provide risk assessment documentation, typically in the operator’s manual. It is important to review this assessment thoroughly and train employees on the proper techniques to mitigate any identified risks. For example, programming the robot introduces mechanical hazards such as the potential for pinching or impact, which can be addressed by standing a safe distance outside of the weld cell or by using a slower teach speed if offered on the teach pendant.

Other safety considerations

In addition to the best practices outlined for robotic MIG welding guns, consumables and systems, there are steps to further protect employees.

Creating a culture of safety

Safety in welding automation should be top of mind among operators, management and maintenance personnel. Ongoing training needs to be a priority, whether it is conducted through company programs or seminars offered by outside resources. The goal is to ensure that everyone involved with the robotic welding system is playing an active role in employing best practices. When following them properly, the result is a safer work environment and a stronger bottom line.

Optimizing Shielding Gas Performance in MIG Welding

Using the wrong shielding gas for MIG welding applications — or having improper gas flow — can significantly impact weld quality, costs and productivity. Shielding gas protects the molten weld pool from outside contamination, so it’s critical to choose the right gas for the job.

Learn more about which gases and gas mixes are best suited for certain materials, along with some tips for optimizing gas performance — and saving money — in your welding operation.

This article was published in The WELDER. To read the entire story, please click here. 

MIG Welding Basics: Techniques and Tips for Success

It’s important for new welding operators to establish proper MIG techniques in order to achieve good weld quality and maximize productivity. Safety best practices are key, too. It’s just as important, however, for experienced welding operators to remember the fundamentals in order to avoid picking up habits that could negatively impact welding performance.

From employing safe ergonomics to using the proper MIG gun angle and welding travel speeds and more, good MIG welding techniques provide good results. Here are some tips.

Proper ergonomics

A comfortable welding operator is a safer one. Proper ergonomics should be among the first fundamentals to establish in the MIG welding process (along with proper personal protective equipment, of course). Ergonomics can be defined, simply, as the “study of how equipment can be arranged so that people can do work or other activities more efficiently and comfortably.”¹ The importance of ergonomics for a welding operator can have far reaching effects. A workplace environment or task that causes a welding operator to repetitively reach, move, grip or twist in an unnatural way, and even staying in a static posture for an extended period of time without rest. All can lead to repetitive stress injuries with life-long impacts.

Proper ergonomics can protect welding operators from injury while also improving productivity and profitability of a welding operation by reducing employee absences.

Some ergonomic solutions that can improve safety and productivity include:

1. Using a MIG welding gun with a locking trigger to prevent “trigger finger”. This is caused by applying pressure to a trigger for an extended period of time.

2. Using a MIG gun with a rotatable neck to help the welding operator move more easily to reach a joint with less strain on the body.

3. Keeping hands at elbow height or slightly below while welding.

4. Positioning work between the welding operator’s waist and shoulders to ensure welding is being completed in as close of a neutral posture as possible.

5. Reducing the stress of repetitive motions by using MIG guns with rear swivels on the power cable.

6. Using different combinations of handle angles, neck angles and neck lengths to keep the welding operator’s wrist in a neutral position.

Proper work angle, travel angle and movement

The proper welding gun or work angle, travel angle and MIG welding technique depends on the thickness of the base metal and the welding position. Work angle is “the relationship between the axis of the electrode to the welders work piece”. Travel angle refers to employing either a push angle (pointing in the direction of travel) or a drag angle, when the electrode is pointed opposite of travel. (AWS Welding HandBook 9th Edition Vol 2 Page 184)².

Flat position

When welding a butt joint (a 180-degree joint), the welding operator should hold the MIG welding gun at a 90-degree work angle (in relation to the work piece). Depending on the thickness of the base material, push the gun at a torch angle between 5 and 15 degrees. If the joint requires multiple passes, a slight side-to-side motion, holding at the toes of the weld, can help fill the joint and minimize the risk of undercutting.

For T-joints, hold the gun at a work angle of 45 degrees and for lap joints a work angle around 60 degrees is appropriate (15 degrees up from 45 degrees).

Horizontal position

In the horizontal welding position, a work angle of 30 to 60 degrees works well, depending on the type and size of the joint. The goal is to prevent the filler metal from sagging or rolling over on the bottom side of the weld joint.

Vertical position

For a T-joint, the welding operator should use a work angle of slightly greater than 90 degrees to the joint. Note, when welding in the vertical position, there are two methods: weld in an uphill or a downhill direction.

The uphill direction is used for thicker material when greater penetration is needed. A good technique for a T-Joint is call the upside-down V. This technique assures the welding operator maintains consistency and penetration in the root of the weld, which is where the two pieces meet. This area is the most important part of the weld.The other technique is downhill welding. This is popular in the pipe industry for open root welding and when welding thin gauge materials.

Overhead position

The goal when MIG welding overhead is to keep the molten weld metal in the joint. That requires faster travel speeds and work angles will be dictated by the location of the joint. Maintain a 5 to 15 degree travel angle. Any weaving technique should be kept to a minimum to keep the bead small. To gain the most success, the welding operator should be in comfortable position in relation to both the work angle and the direction of travel.

Wire stickout and contact-tip-to-work distance

Wire stickout will change depending on the welding process. For short-circuit welding, it is good to maintain a 1/4- to 3/8-inch wire stickout to reduce spatter. Any longer of a stickout will increase electrical resistance, lowering the current and leading to spatter. When using a spray arc transfer, the stickout should be around 3/4 inch.

Proper contact-tip-to-work distance (CTWD) is also important to gaining good welding performance. The CTWD used depends on the welding process. For example, when using a spray transfer mode, if the CTWD is too short, it can cause burnbacks. If it’s too long, it could cause weld discontinuities due to lack of proper shielding gas coverage. For spray transfer welding, a 3/4-inch CTWD is appropriate, while 3/8 to 1/2 inch would work for short circuit welding.

Welding travel speed

The travel speed influences the shape and quality of a weld bead to a significant degree. Welding operators will need to determine the correct welding travel speed by judging the weld pool size in relation to the joint thickness.

With a welding travel speed that’s too fast, welding operators will end up with a narrow, convex bead with inadequate tie-in at the toes of the weld. Insufficient penetration, distortion and an inconsistent weld bead are caused by traveling too fast. Traveling too slow can introduce too much heat into the weld, resulting in an excessively wide weld bead. On thinner material, it may also cause burn through.

Final thoughts

When it comes to improving safety and productivity, it’s up to the experienced veteran welding operator as much as the new welding to establish and follow proper MIG technique right. Doing so helps avoid potential injury and unnecessary downtime for reworking poor quality welds. Keep in mind that it never hurts for welding operators to refresh their knowledge about MIG welding and it’s in their and the company’s best interest to continue following best practices.

1. Collins Dictionary, “ergonomics,” collinsdictionary.com/dictionary/english/ergonomics.
2. Welding Handbook, 9th ed., Vol. 2, Welding Processes, Part 1. American Welding Society: Miami, Fla., p. 184. 

Implementing Robotic Welding: What to Know to Be Successful

The potential advantages of robotic welding are well known — increased productivity, improved quality and greater cost savings compared to semi-automatic welding. But the question is: How do companies best implement this technology to gain these benefits? And how can they ensure a quick return on the investment (ROI)? Simply stated, planning.

More preparation upfront helps minimize the cost and time for correcting errors in the robotic welding system once it has gone into production. From the welding power source to the robot or weld process to the gun and consumables, each component should be thoroughly researched to make sure it is feasible to operate in the weld cell — not just on paper, but in reality.

Take advantage of turnkey integrators who run their own process and capability studies. They can provide useful double checks to a plan and often conduct reach studies that model the weld tooling and workpiece. These mock up how the robot would weld in the finished system to test the gun reach and the overall efficiency of the process.

Also remember, success in robotic welding is as much a matter of doing the right thing as it is avoiding pitfalls that could hinder the efficiency of the operation.

Budgeting and ROI

With planning comes budgeting. A robotic welding cell may be installed on time, produce good weld quality and meet cycle time, but if the implementation and use of the system is over budget it will be an uphill battle to gain a good ROI.

Consider the associated goals to help establish a feasible ROI. For example, a company with the goal of producing 1000 parts a day needs to determine how much it can make from those parts. From there, it would subtract the cost of utilities and labor, along with the cost to make the product and the cost of raw materials, to determine a budget on equipment costs that would make the company profitable. If this equipment will only be used for 5 years, the company may need a quicker ROI than if it’s planning to use the robotic welding system for 10 years or more.

Companies can make the most of their budget by considering equipment that could be reused. This can cut down on the investment in the long run. Robots can have an extensive life if maintained well, allowing them to be re-purposed from project to project. The same holds true with welding power sources and nozzle cleaning stations.

Ultimately, ROI depends on the company and what practices it follows for making profit. Some may be able to allow the equipment to take 18 months or more to pay for itself if the company plans on re-using or re-purposing the welding robots on multiple platforms over the next 10 years. Others may stand by the goal of a one-year ROI, which is common.

Effective training

Proper training is important for keeping a robotic welding system running successfully and profitably in the long term. Robot integrators and other equipment manufacturers often offer training as part of the implementation process. This training provides welding operators with a knowledge of robotic welding in general, as well as providing the information they need to operate the robot effectively for the application at hand. A well-trained operator will also be able to determine ways to maximize the efficiency of the robotic weld cell. They do this by troubleshooting and resolving issues quickly, keeping the robot online and supporting greater productivity and cost savings.

Likewise, train welding operators to implement PM for the robotic gas metal arc welding (GMAW) gun to gain longer life, reduce downtime and achieve more arc-on time. Regularly check that the gun connections, consumables and power pin are secure. Look for any signs of power cable wear and replace if necessary.Training geared toward the preventive maintenance (PM) of a robotic welding system and the weld cell is also key. For example, spatter build-up on the robotic welding gun can cause grounding issues and build-up on tooling may lead to dimensional movement of the steel from cycle to cycle. The latter can block the datum placements causing gun reach issues.

In a worse-case scenario, spatter builds up on equipment over time, creating solid formations that are difficult to remove and prevent the re-use of the equipment. To avoid these problems, train operators to follow a regular cleaning schedule for the weld cell and the equipment.

Avoid common mistakes

There are several common mistakes that can negatively affect productivity and quality in a robotic welding system. Knowing how to avoid these can help companies make the most out of the equipment and gain greater success. Consider the following:

1. Implementing the wrong equipment in a robotic welding cell can lead to spending more money than is required. Be sure to rate the power source, robotic GMAW gun and consumables for the application. Doing so helps minimize the risk of premature equipment failures that can lead to unplanned downtime and costly equipment replacement. For example, if a company selects an air-cooled system, but actually requires a water-cooled system for the application, it could incur unnecessary costs to repair or upgrade a failed robotic GMAW gun system that cannot handle the heat.

2. Underutilizing the robotic welding system can prevent companies from realizing their full productivity potential. Robotic welding systems should be programmed to maximize the arc-on time during the weld process cycle. In some cases, it may be possible to have fewer robots that weld for slightly longer cycles. This helps drop the initial implementation costs.

Take this example. A company has four robots in cell welding at 30 inches per minute with a cycle time of 60 seconds. These robots are inefficient since they are only welding half of the cycle time. That could be due to the positioner rotating for weld access, too slow of robot air cut movements, poor welding angles or other limiting factors. In this scenario, the total length of completed welds for all four robots is 60 inches (30 in. / min. x 1 min. / 60 seconds x 30 seconds of welding per robot = 15 inches of weld per robot).

An alternative here is to keep the cycle time at 60 seconds and drop down to three robots by improving items like the weld angles, creating quicker air cuts between welds, utilizing gun reaming during positioner movements and more. Now with improvements, the robots could weld at an average of 35 inches per minute for 35 seconds each cycle. That provides an average of 20 inches of weld per cycle per robot, allowing for the same total of 60 inches of weld with one less robot.

3. Underutilizing available labor can also hinder productivity. While companies should take care not to overload operators, it’s important to balance manpower in robotic welding process so that employees are efficient and busy at the same time. If an operator is idle waiting for the weld cycle to complete, there could be room for process improvements by allocating labor to other activities near the weld cell.

4. Poor tooling design can impede quality. Thoroughly plan the tooling design and understand how the parts being welded will impact it. Different parts and materials react differently to heat and may draw, flex or bend during the welding process. Factor in how much heat a given weld sequence generates. The tooling will have to be designed with these in mind. If possible, design tooling to permit welding in the flat or horizontal position with appropriate robotic GMAW gun access. This allows for faster and more consistent results. Finally, remember, less expensive tooling may be attractive when looking at upfront costs, but it can be a pitfall later if it doesn’t meet the demands of the job.

5. Overlooking activities outside the robotic weld cell can be detrimental. Plan for part inspection and cosmetic rework, as well as the final stages of palletizing the product if that is part of the operation. Some of these processes can be automated or manual labor driven. These are key stages in a robotic welding operation that can quickly become bottlenecks that cause the entire process to slow down. These bottlenecks can also add unplanned manpower or equipment costs, which can become expensive.

Final thoughts

Remember that no plan for welding automation can be successful without a good schedule for its implementation. Being thorough is more important than being fast. Set realistic goals for completing the installation of the robotic weld cells and don’t rush or over-complicate the process. For first-time investors in robotic welding starting small can also help ensure greater success.

Once the robotic weld cell or cells begin operating, keep in mind that the startup may not be perfect. There may be adjustments required to optimize performance to gain the best productivity and quality.

Preventive Maintenance for Reamers, Accessories and Other Peripherals

From reamers or nozzle cleaning stations to wire cutters and anti-spatter sprayers, welding peripherals and accessories can contribute significantly to the success of a robotic welding operation. In addition to improving weld quality, they can also help companies maintain high levels of productivity.

Reamers, in particular, are most prevalent in automotive manufacturing, where uptime and quality are critical. This peripheral cleans the welding consumables — for example, welding nozzles and gas diffusers — free of spatter, and most automotive welding operations rely on the process after virtually every weld cycle. Other industries, such as heavy equipment manufacturing, also employ reamers and other peripherals in their robotic welding operations, as do some general manufacturers.

It’s not by chance that peripherals work the way they do. Like any equipment, caring for them with routine preventive maintenance (PM) is important to gaining optimal performance and longevity.

PM tips for reamers and accessories

A reamer requires regular attention since it operates frequently during the weld cycles. Its job is important though, as it performs essential welding nozzle cleaning that helps keep the robotic welding cell up and running and quality on par. With the PM for this equipment also comes PM for its associated accessories: the lubricator, cutter blades and anti-spatter sprayer. All require varying levels of PM activities — some daily, weekly, monthly or yearly.

In addition to inspecting the consumables for wear and replacing as needed, follow this PM routine on a daily basis:

1. Check that the consumables are aligned properly to the reamer. This helps ensure that the jaws of the reamer clamp the nozzle to the V-block correctly and that the consumables are lined up concentric and parallel to the cutter blade for optimal spatter cleaning.
    
2. Clean the spindle cover shroud free of spatter and also clean the clamp jaw and V-block surfaces to gain proper nozzle alignment. Use a brush or compressed air. Look for any signs of wear on these components.
    
3. Make sure the air lines connected to the reamer are free of frays, as leaks will prevent the reamer from receiving enough air to remove spatter properly. Look for any damage to the interface cable.
    
4. Check the oil level in the lubricator reserve — the reamer motor depends on a consistent supply of oil. Also check the level of anti-spatter liquid in the anti-spatter sprayer. Fill as needed. An option to simplify PM of the anti-spatter sprayer is to employ a multi-feed system that allows 5- or 55-gallon drums of anti-spatter liquid to be connected to a manifold system to feed multiple sprayers on multiple reamers. This eliminates the need for daily reservoir fills.

On a weekly basis, continue to examine the integrity of the consumables and follow these guidelines:

1. Inspect the cutter blades for dullness, clogging and possible breakage, replacing as necessary. Note the service life of cutter blades will vary based on the application.
    
2. Again, check that the lubricator is working properly with the right level of oil, and clean or replace the filter as needed.
    
3. Check the LEDs to ensure reamer and controller communication, and wipe the nozzle detect proximity sensors clean so they can function properly.
    
4. Look over the spray head on the anti-spatter sprayer to be sure it is delivering a normal amount of liquid spray. Clean the head and adjust as necessary.

Monthly PM for reamers and accessories requires less steps but is more intensive. It may require scheduling a time off cycle to complete.

1. Check that the belt tension lock screw and bolt are securely tightened.
    
2. Examine the spindle unit for wear, replacing if necessary, and inspect the solenoids, spooling them to prevent leaks and to make sure they are operating properly.

Lastly, on an annual basis:

1. Inspect the drive belt for signs of fraying and replace as necessary.
    
2. Replace the spindle cap seal and repair any visible damage.
    
3. Perform a complete cleanup of the reamer and anti-spatter sprayer.

While it may seem time-consuming to implement these PM measures, they can typically be completed during routine pauses in production. More intensive activities can be scheduled so as to prevent interruption to production. Ultimately, the PM is time well spent and can help protect the investment in the reamer and its accessories.

PM tips for wire cutters

Wire cutters are increasingly being used in automotive and other manufacturing operations. This equipment is integrated into a reamer configuration and used in conjunction with a wire brake on the robotic MIG gun. The wire brake prevents the welding wire from moving, while the wire cutter cuts it at a set distance. This allows for a consistent wire stickout so the robot can touch sense and track the joint before welding. The results are more accurate weld placement and smooth arc starting. 

PM for wire cutters is relatively simple.

1. On a daily basis, check the airlines and interface cable for leaks or frays. Be sure that the solenoid valve is providing air to the system.
    
2. Weekly, check that the cutter blades are sharp enough to cut the wire. Look for signs of dullness, looseness or breaks. Replace as needed. Also empty the wire catcher basket.
    
3. Quarterly, apply general purpose grease (NLGI Grade 1-1) through the grease fittings on the sides of the main body of the wire cutter. This helps lubricate the sliding surfaces of the equipment.

The value of peripherals

Peripherals like reamers with anti-spatter sprayers and wire cutters can help companies realize a greater return on their investment in a robotic welding system. They aid in high weld quality, minimize rework and help meet productivity goals. Train welding operators to follow recommended PM activities as a part of a routine care of the weld cell. The time and cost to care for them properly will be small in comparison to the improvements they can provide to the bottom line. 

Robotic Welding Troubleshooting FAQs

Every operation wants to avoid downtime, as well as the cost for troubleshooting problems in the robotic MIG welding cell. But sometimes issues happen, whether it’s due to equipment failure or human error.

Since most companies invest in welding automation to boost throughput and profitability, getting a robotic welding cell back online as quickly as possible is critical to production and the bottom line. The first things to consider are whether anything has changed in the welding process or with the equipment, or if the operator has recently reprogrammed the robot. In many cases, evaluating the most recently changed variable can help you pinpoint an issue’s cause.

After that, analyzing some of the most frequent sources of trouble in the robotic weld cell can help you get to the root of the problem sooner. Consider these five common issues and ways to fix them.

Q: What are causes of poor consumable performance?

A: The material being welded and the parameters being used affect welding consumables’ longevity. But if it seems that nozzles, contact tips, diffusers or liners aren’t lasting their typical life or are performing poorly, there could be several causes.

Check all connections between welding consumables and tighten them as needed. A loose connection increases electrical resistance and generates additional heat, which can shorten consumable life and cause poor performance. It’s especially important to ensure consumables are properly tightened when the application involves long welds or welds on thick materials, since any rework due to quality issues will cost more time and money in these cases.

Common contact tips issues, such as burnback, are often caused by a too-short liner. Always follow the manufacturer’s instructions for liner trimming and installation, and use a liner gauge to confirm length when possible. Over time, debris and spatter buildup inside the liner can contribute to shortened contact tip life. It’s important to create a schedule for changing liners, just as you would for other consumables.

If you’re frequently experiencing weld defects like porosity or lack of penetration, this can also stem from a consumables issue. Make sure the contact tip and nozzle are free of debris and replace them as needed.

Q: What causes poor wire feeding?

A: Erratic or poor wire feeding in robotic welding is a common issue that can ultimately result in poor weld quality. Poor wire feeding can have many causes.

Cutting a liner too short is particularly problematic when robotic welding with smaller diameter wires, which have less column strength.

Extreme articulation of the robotic MIG gun can also lead to poor wire feeding. Program the robotic MIG gun cable to stay as straight as possible. The robot may not weld quite as fast, but proper gun orientation helps minimize downtime for feeding problems.

Excessive conduit length and multiple bends or junctions can cause poor wire feeding as well. With the drive rolls open, you should be able to pull the wire through the contact tip by hand with minimal effort. If you need to pull with two hands or put your bodyweight into the process, that indicates interference with the wire path between the wire drum and the contact tip. Check for bends tighter than 90 degrees, multiple junctions between sections of conduit or worn conduit sections that can increase drag on the wire. Ideally, the conduit between the drum and the wire feeder should be less than 20 feet, with no junctions or tight bends.

Improper drive roll selection and tension setting can also lead to poor wire feeding. Consider the size and type of wire being used and match that to the drive rolls. Inspect drive rolls for signs of wear and replace them as necessary.

Q: Why is the cable prematurely failing?

A: Whether you have a through-arm robotic welding system, where the cable is routed through the robotic arm, or a standard over-the-arm robotic welding system, premature power cable failure can happen. A power cable that becomes kinked or worn can fail and short-out against the robot casting, leading to costly repairs.

To help prevent premature cable wear, consider the programmed path of the robot as well as the power cable’s length. If the robot’s movements cause the cable to bunch up or kink, it can cause the power cable to fail. If the power cable rubs against tooling or catches on components during the programmed cycle, this can also cause premature failure.
Proper cable length is also important. A cable that is too short or too long can be stretched beyond capacity or be prone to kinking.

Q: Why is there a problem with tool center point (TCP)?

A: In robotic welding, TCP refers to the location of the end of the welding wire with respect to the end of the robot arm. If you are experiencing inconsistent welds or welds that are off-location, this may stem from a problem with TCP.

If the robotic MIG gun neck is bent or damaged during a collision in the weld cell, this can result in TCP issues. Use a neck-checking fixture or neck alignment tool to help ensure proper angle of the neck bend. Also, be sure the neck and consumables are installed and torqued properly. Failure to do so may affect TCP. 

However, a problem with off-location welds isn’t always caused by TCP issues. Improper fixturing or part variations may also be the root cause. If a TCP check using the robotic program turns up with no issues, a part or position variation is the likely culprit.

Q: How do I fix poorly performing peripherals?

A: Companies often implement peripherals, such as reamers or nozzle cleaning stations, to optimize robotic welding performance and get more life out of consumables. But a problem with the reamer can cause spatter buildup on the consumables.

Reamers can perform poorly for three common reasons:

1. Improperly taught position of the robotic MIG gun nozzle in relation to the reamer. This position should be concentric to the cutting blade on the reamer at the proper insertion depth to ensure thorough cleaning of the nozzle.
   
2. Too much or too little anti-spatter spray in the wrong location. Anti-spatter spray should cover the inside of the nozzle and the outside should be covered within 3/4 of an inch from the bottom of the nozzle. Spray for only a half-second. In production, the anti-spatter should evaporate on contact with a hot nozzle — if your nozzle is dripping, you’re spraying too long.
   
3. Using the wrong cutting blade or improper insertion depth will not allow for proper removal of accumulated welding spatter.

Correcting common problems

Problems in the robotic welding cell can be as simple as a loose contact tip or more complex like incorrect TCP. Understanding the steps for proper troubleshooting helps narrow down potential causes and can prevent replacement of components that don’t need replacing — so the operation can save money and quickly get back to producing quality parts.

Learn more from the Tregaskiss Troubleshooting Guide.