Thanks

[popbot]

An old Friend, ex-coworker, and current Motoman employee recently helped me with a problem on weaving with coordinated motion.
The problem was the robot would loose its correct weave around complicated motion. What I had been taught, and what I had read did not give me the results I needed.
My friend told me to set my ref. points as follows: Ref.1, Z+ .375 and Ref.2, Z+.375 again. This of course with a weld joint in a "V" or true flat position and a weave with 0, or 90 angle.
I am getting much better control of my weave now.

THANK YOU VERY MUCH! You are the man.

[Fabian Munoz]

Thanks for this post.

This shows what this forum is all about

somar

[Sparkthrower]

I ran itno same problem last week, with nx100. Tried setting up ref pts, no go, used smov's and swvon worked great then, hit the #4 key on pendant to turn on syncronized motion.

[motomaster]

reference points are typically not needed but in the case that they are needed here is how they work....REF point #1 defines the verticle wall starting at the weld start point. REF point #2 is the approach direction. it only matters which side of REF point #1 it is on to determine which direction the weave pattern goes. it is not good practice to program Ref pt#2 directly above REF pt#1 for a 1F (flat) weld. you always want to move REF pt #2 away from the verticle wall (ref pt#1). this is a common problem with seam tracking (comarc) just because it looks like it is weaving correctly doesnt mean it is. the controller defines the weave pattern the same way I descriped to set the reference points so if you program your moves the same way you will not need reference points. I only use them when needed and that is only about 5% of the time.