Lost cycle time?

[BwillieS]

DX100
MA1400 (tripple arm welding cell)

Before clutch replacement cycle time was 3:50
After clutch replacement and TCP calibration. 4:30.

Some how we've lost 40 sec. in cycle time! all this robot does is weld a circle and I can see that indeed it is moving slower because the weld is much thicker but the MOVC is the exact same speed as it always was. I checked to make sure the tool weight is still registered and it is.

Any thoughts or things to check? any info would be greatly appreciated.

additonal note. The reason we did a TCP calibartion was because like I said this robot only does circle welds and the robot was not holding its point.

[Robo Guru]

In your tool file you specify a weight and cog. If this got changed then it is possible that your robot would've slower   The heavier the tool the slower it will accelerate .

Forty seconds is excessive though so maybe someone changed your programs

Rg

[potis]

r you welding with the speed of movc or with a fix speed in the arc file?
in other movements besides welds have you increased the speed?
have you implemented pl in the instructions or timers?

[rzapo]

i think that someone change and other instruction in the program.
If the welding is deeper then also the weldding speed is change.
discuss with the operator and with the person who make the calibration.
BR

[Pcarbines]

 When you say "tripple arm " ?? Is it possible that your cell did not have the Arm Control ( section 8.4 of Instructions manual) correctly setup at the very beginning or you have not reset it since parts replacement. The cycle time is an effect of Arm Control along with tool calibration. As already mentioned 40secs is along time but,  how big are the circles ( it is 15% increase overall)  & is an extra axis rotator involved.

[BwillieS]

In your tool file you specify a weight and cog. If this got changed then it is possible that your robot would've slower   The heavier the tool the slower it will accelerate .

Forty seconds is excessive though so maybe someone changed your programs

Rg

Center of gravity changed slightly from the TCP  calibration but we did not adjust the tool weight. It remains the same. There was program changes done but none to the speeds. We checked the backed up program and they are the same (speeds are the same) minor touch ups were done.

[BwillieS]

r you welding with the speed of movc or with a fix speed in the arc file?
in other movements besides welds have you increased the speed?
have you implemented pl in the instructions or timers?

It is programmed with MOVC welding.
No speed increase.
No PL or timers have been added.

[BwillieS]

When you say "tripple arm " ?? Is it possible that your cell did not have the Arm Control ( section 8.4 of Instructions manual) correctly setup at the very beginning or you have not reset it since parts replacement. The cycle time is an effect of Arm Control along with tool calibration. As already mentioned 40secs is along time but,  how big are the circles ( it is 15% increase overall)  & is an extra axis rotator involved.

by tripple arm I mean that there is 3 robotic arms in the cell. I have not done anything with Arm Control. What does arm control do and why would I need to change this if I replaced a clutch in the torch assembly?

[potis]

sorry misstyped. i wanted to say dicreased not increased.
are any instructions added? do you have wait or nwait instructions that you previously didn not had?
you are talking for a 3 robot cell. is a specific robot slowing the others? meaning that they wait for it to finish sth and then continue.

please do this. run the program in play mode but without the arc commands to see if there is any difference.

[BwillieS]

sorry misstyped. i wanted to say dicreased not increased.
are any instructions added? do you have wait or nwait instructions that you previously didn not had?
you are talking for a 3 robot cell. is a specific robot slowing the others? meaning that they wait for it to finish sth and then continue.

please do this. run the program in play mode but without the arc commands to see if there is any difference.

The cell has always been waiting for the robot in question. Now it waits much longer.  No waits have been added. the robot does not stop and wait for anything. It is for sure welding slower but why I do not know. I can tell because the weld size is much bigger.

[Pcarbines]

Your quite right, if you've not touched any of the MA1400's hardware & only replaced welding equipment there is no reason for Arm control mods.
Did you have a Datum point programmed before replacing torch components , and if so was there a large difference after work carried out ?, because you needed to change tool calibration I take it there was.
If you are absolutely sure that no program changes have been made and the only mod made is tool calibration.  Then Run the  "TRT" function and rerecord program to the expected Cycle time, if it's backed up you have nothing to lose.
Also check your welding times , As suggested by Potis why not run your existing program in "Check" mode (no welding) and get extra check on the differing cycle time.

[potis]

also maybe someone changed your settings of the welding deviceinside the pp

[BwillieS]

A Motocal was done and the cycle time came back. Any ideas on why that worked?

[potis]

check the settings in the tool and the robot arm and compare them with the ones you had.