In theory yes. However, you must have a software version new enough to support relative job. You have to buy the relative job feature as well. It also adds cycle time. Don't know if it will work as well on the ERC as it does on the NX and DX controllers.
Yes,it has relative job active, but i have read the mototac jobs from an NX system, and it use a complex mathtematics operations and use the INVMAT function, which i can not find in my ERC manuals.
If i found 2 points in the space, as we can obtain with the two cups of mototac, how can we obtain the values to define the torch TCP and angle. And more important, How can i set this values into the tool file form a job.
I think i can use it with 3 cups to redefine the robot frame with the MSHIFT command.
I think, If i change the CIO.prg, to activate the wire sticking detection, and cancel the wire sticking alarm when i activate any output, i can use this DIRECTIN as a search signal.
You won't be able to use any of the commands from another robot controller. You will have to develop your own program to determine where the TPC is relative to where it was when you set up the system. This can all be done with math functions. Once you have the difference you shift your programs relative to how the tool is bent.
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