I have a motoman hp20-6 with nx100 control mounted on a motosweep.
Doing some reprogramming and finding a lot of areas where there is interference with the welding trunnion and robot. In order to continue the weld we are currently moving the robot and sweep away and reorientating the robot, then bringing the robot back in to the last position and continuing the weld. It might take 20 to 30 seconds from weld to weld.
What I am trying to figure out is how to stop welding, rotate around the TCP (move some of the larger axis away from interference by moving both the robot and motosweep, but not moving the torch tip from the weld position). This would make it much easier to weld instead of pulling away reorientate and then startup again.
Thanks in advance,
Dan