Analyze Search Results

    Hi All
    We are currently searching with the welding wire for weld seam locations, the process happens like so

    1)Torch goes to cleaning station and is cleaned and wire is cut to set length (15mm)
    2)A Pneumatic Clamp is activated and this holds the wire in welding torch ( this maintains the 15MM whilst the torch moves around the job)
    3) A search is carried out ( 1D or 2D ) and the results are recorded in a variable (P001, or P002, Or P003 Etc)
    4) After all searches or group of searches are finished the pneumatic clamp is released
    5) The weld start /end position is then shifted by the relevent variable (P001, P002, P003 Etc)
    5) The welds are then welded in their new position.

    Problem i am having is if the wire is not cut correct Length (15MM ) every time it will give me bad search results and bad welds ( this only happens 1 in every 100 components maybe once a fortnight

    Can i analyze the results along the lines of.....
    IF P001 > 4 Pause
    will this will look at the result held in P001 (variable) and stop the robot if the search recorded is greater value than 4mm ?
    this will enable me to run the search again .
    Can this be done on a NX100 robot?

    Kind Regards
    John

    GETS PX100 $PX001 read current position
    GETE D001 P100 (3) read value of Z and save it in var D001. This part could be difficult if you are working three dimensional
    GETE D002 P001 (3) read value of Z of your P001 (your point)and save it in var D002

    SUB D001 D002 You could write SUB D002 D001, You will get a + or - value, but your nominal is 4


    IF D001= 4000 THEN(that's 4 in Motomilimeters)
    JUMP *PERFECT
    ENDIF
    '
    IFTHEN D001>=-4000 ORIF B061<=4000
    JUMP *OK
    ENDIF
    '
    JUMP *NOTOK
    '
    '
    '
    *PERFECT
    '
    '
    *OK
    '
    '
    *NOTOK

    Retired but still helping

    Thanks everyone for the response so far......
    Fabian i am looking at only checking the search result and stopping (pausing) if the search result is over a certain value,
    if below a certain value the robot would continue to shift the weld start/end position.

    Bermietan i am familiar with Laser systems and i am looking at including on our next system with a different manufacturer, the issue i have with current system is the type of positioner and component i don't have access, otherwise i would look at adopting.

    all I need is to look at the value in a variable and pause the robot if over a certain value, the value in the search variable has already been compared to the origanal during the search and the difference stored.

    Thanks
    John

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