# Difference between arc moves and welds

**URL:** <https://tech-community.robotics.abb.com/t/difference-between-arc-moves-and-welds/5792>\
**Category:** PowerPacs\
**Tags:** arc-instructions-arc-moves-movej-absmovej\
**Created:** [November 4, 2013, 12:09pm UTC](https://tech-community.robotics.abb.com/t/difference-between-arc-moves-and-welds/5792 "2013-11-04T12:09:58Z")\
**Posts on this page:** 7\
**Page:** 1

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**Author:** ![jasper](https://avatars.discourse-cdn.com/v4/letter/j/cdc98d/32.png) [@jasper](https://tech-community.robotics.abb.com/u/jasper)\
**Post date:** [November 4, 2013, 12:09pm UTC](https://tech-community.robotics.abb.com/t/difference-between-arc-moves-and-welds/5792/1 "2013-11-04T12:09:58Z")

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When placing a moveJ instruction there are 2 options, with or without arc

I was wondering what the arc instructions are for?

The old s4c+ controller won’t recognize them, the new ones with irc5 will.

 ![arc moves.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/fe208f9542f464c3c5eb917f7d4c4d724fc621be.png)

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**Author:** ![KgaOfflineCenter](https://avatars.discourse-cdn.com/v4/letter/k/3bc359/32.png) [@KgaOfflineCenter](https://tech-community.robotics.abb.com/u/KgaOfflineCenter)\
**Post date:** [November 5, 2013, 12:21pm UTC](https://tech-community.robotics.abb.com/t/difference-between-arc-moves-and-welds/5792/2 "2013-11-05T12:21:52Z")

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Hi,

You can read about it in the manual Arc and Arc Sensor. You find the manual under **?/Applications** in RobotStudio.

BR / Henrik

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**Author:** ![Hardikez](https://avatars.discourse-cdn.com/v4/letter/h/7bcc69/32.png) [@Hardikez](https://tech-community.robotics.abb.com/u/Hardikez)\
**Post date:** [November 7, 2013, 1:48pm UTC](https://tech-community.robotics.abb.com/t/difference-between-arc-moves-and-welds/5792/3 "2013-11-07T13:48:41Z")

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The S4 will not recognice a instruction for arc made in RS5, because the instruction is not the same  
S4 is feks ArcLon and IRC5 is ArcLstart.  
Normally you cant use RS5 for programming S4, unless you know exactly where to change and edit in the rapid program.  
if you need help let me know.

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**Author:** ![Hardikez](https://avatars.discourse-cdn.com/v4/letter/h/7bcc69/32.png) [@Hardikez](https://tech-community.robotics.abb.com/u/Hardikez)\
**Post date:** [November 7, 2013, 1:48pm UTC](https://tech-community.robotics.abb.com/t/difference-between-arc-moves-and-welds/5792/4 "2013-11-07T13:48:41Z")

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Programming of S4 cant be done in RS 5 unless you know where to edit in the rapid code.  
S4 is ArcLon and Irc5 is ArcLstart and so on.  
let me know if you need help

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**Author:** ![jasper](https://avatars.discourse-cdn.com/v4/letter/j/cdc98d/32.png) [@jasper](https://tech-community.robotics.abb.com/u/jasper)\
**Post date:** [November 7, 2013, 3:09pm UTC](https://tech-community.robotics.abb.com/t/difference-between-arc-moves-and-welds/5792/5 "2013-11-07T15:09:47Z")

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Thanks for the reactions,

I have made a conversion program to convert irc5 modules to s4c+, all works verry well

The ‘‘arc moveJ’’ instructions are simply turned into ‘‘moveJ’’ instructions during the conversion.

This way we will never send an arc instruction to the s4c+ robot.

We recently got IRC5 robots, the first IRC5 in our company

And now i was wondering wat the extra ''arc; function is for…

@ herdrik

I have taken a look @ the manual arc and the only arc move related instruction is this one:

ArcMoveExtJ is almost a copy of the MoveExtJ instruction but has integrated error handling for RobotWare Arc.

So it prevends errors??

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**Author:** ![KgaOfflineCenter](https://avatars.discourse-cdn.com/v4/letter/k/3bc359/32.png) [@KgaOfflineCenter](https://tech-community.robotics.abb.com/u/KgaOfflineCenter)\
**Post date:** [November 8, 2013, 12:46pm UTC](https://tech-community.robotics.abb.com/t/difference-between-arc-moves-and-welds/5792/6 "2013-11-08T12:46:04Z")

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Hi,

From the manual (it is for proper error handling):

You can take a look at weld error recovery.

- ArcMoveExtJ

- ArcMoveAbsJ

- ArcMoveL

- ArcMoveC

- ArcMoveJ

These must be used to have proper error handling when using RobotWare Arc in MultiMove. The installation of the module is done by adding the following to SYS.cfg, where task name represents the name of the additional axis RAPID task name.

BR / Henrik

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**Author:** ![jasper](https://avatars.discourse-cdn.com/v4/letter/j/cdc98d/32.png) [@jasper](https://tech-community.robotics.abb.com/u/jasper)\
**Post date:** [November 22, 2013, 11:53am UTC](https://tech-community.robotics.abb.com/t/difference-between-arc-moves-and-welds/5792/7 "2013-11-22T11:53:31Z")

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Ok, thanks for the information, we will be using arc from now on with the new IRC5 robots

greetings, Jasper