1.出现偏焊问题：可能为焊接的位置不正确或焊枪寻找时出现问题。这时候，就要考虑TCP（焊枪中心点位置）是否是正确的，并且加以调整。假如频繁出现这种情况就要检查一下机器人各轴的零位置，中心校零予以修正。

1. Deviation welding problem: It may be due to incorrect welding position or problems with the welding gun during searching. At this point, it is necessary to consider whether the TCP (center point position of the welding gun) is correct and make adjustments. If this situation occurs frequently, it is necessary to check the zero position of each axis of the robot and correct it by centering.

2.出现咬边问题：可能为焊接参数选择不当、焊枪角度或焊枪位置不对，可适当调整。

2. Edge biting problem: It may be due to improper selection of welding parameters, incorrect welding gun angle or position, which can be adjusted appropriately.

3.出现气孔问题：可能为气体保护差、工件 的底漆太厚或者位置不对，可适当调整。

3. Pore problem: It may be due to poor gas protection, too thick primer on the workpiece, or incorrect position, which can be adjusted appropriately.

4.飞溅过多问题：可能为焊接参数选择不当、气体组成部分原因或焊丝外审长度太长，可适当调整机器人功率的大小来改变焊接参数，调节气体配比仪来调整混合气体比例，调整焊枪与工件的相对位置。

4. Excessive splashing problem: It may be due to improper selection of welding parameters, gas composition, or excessive length of welding wire. The robot power can be adjusted appropriately to change the welding parameters, the gas proportioner can be adjusted to adjust the mixed gas ratio, and the relative position of the welding gun and workpiece can be adjusted.

5.焊缝结尾处冷却后形成一弧坑问题：可编程时在工作步中添加埋弧工作，可以将其填满。

5. The problem of forming an arc crater after cooling at the end of the weld seam: When programmable, adding a submerged arc work in the work step can fill it up.

优点：

Advantages:

1，保修3年（本体,控制箱,示教盒,操作盒,控制电缆）;

1. Warranty for 3 years (body, control box, teaching box, operation box, control cable);

2，全中文操作界面,简单易懂,同时可支持6种语言选择;

2. The full Chinese operation interface is simple and easy to understand, and can support 6 language choices;

3，工作半径长,标准焊接机器人工作半径可达1.4米或者2米(不包含焊枪);

3. The working radius is long, and the standard welding robot's working radius can reach 1.4 meters or 2 meters (excluding the welding gun);

4，运动速度高,高可高于同等其他将机器人40%个轴运动速度分别是210°/S,190°/S,210°/S,210°/S,420°/S,420°/S,600°/S;

4. The motion speed is high, which can be higher than other robots of the same level. The motion speeds of 40% of the axes of the robot are 210 °/S, 190 °/S, 210 °/S, 210 °/S, 420 °/S, 420 °/S, and 600 °/S, respectively;

5，防碰撞功能，焊枪防碰撞传感器，伺服防碰撞传感器；

5. Efficient anti-collision function, welding gun anti-collision sensor, servo anti-collision sensor;

6，防尘，防尘等级大IP54级别；

6. Efficient dust prevention, with a dust prevention level of up to IP54;

7，电缆内置，有效提高第6轴工作范围（B4机器人独有，其他机器人不具备）；

7. Built in cable, effectively improving the working range of the 6th axis (unique to B4 robots, not available to other robots);

8，内置PLC，可以节省外部PLC(I/O点64个)；

8. Built in PLC, which can save external PLC (64 I/O points);

9，外部轴同步协调功能，可以在示教盒上操作外部轴，使机器人和外部轴同步动作，来完成复杂焊缝的焊接；

9. External axis synchronization and coordination function, which can operate the external axis on the teaching box to synchronize the robot with the external axis and complete the welding of complex welds;

10，多种方式链接区域网，I/O接口，DeviceNet,CC-Link……

10. Multiple ways to link regional networks, I/O interfaces, DeviceNet, CC Link

11，焊接特性自动调整功能，根据杆伸长长度和使用环境不同，自动调整焊接特性值，使实际焊接电流、电压与设定值一致；

11. Automatic adjustment function for welding characteristics, which automatically adjusts the welding characteristic values based on the elongation length of the rod and different usage environments, so that the actual welding current and voltage are consistent with the set values;

12，电弧监控功能，示教盒上能够对焊接电流，焊接电压，送丝负荷等进行监控，与DL350Ⅱ链接时，还可监控飞溅抑制率；

12. Arc monitoring function, the teaching box can monitor welding current, welding voltage, wire feeding load, etc. When connected to DL350 II, it can also monitor the splash suppression rate;

13，断弧再起功能，传统机器人焊接过程发生断弧，机器人会紧急停止，我们机器人可以自动恢复到预先设定的再启位置和再启次数等操作；

13. Arc break and restart function. In the traditional robot welding process, if an arc is broken, the robot will stop urgently. Our robot can automatically restore to the pre-set restart position and number of restarts, and other operations;

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