r30ib controller using m710ic/20l with a integrated rail there seams to be a problem with the touch sensing when using shift and rotate. When I master a part using specifically 1d shift I then turn the flag of and run the search I get zeros in my position register consistently witch is good. I then do the same again using specifically 1d shift and rotate mastering the part and then turning the flag of run the search a few times I get inconsistent results sometimes nothing then upto a 10 mm offset (the part still hasn't moved) any help ?
r30ib touch sensing
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khydes18733 -
September 17, 2014 at 10:57 PM -
Thread is marked as Resolved.
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Hi,
did you find out what was happening? I am getting this error as well.Thanks Andrew
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Try doing the search slower.
Make sure the part is lean / free of oil and that the connection to the welder's "-" is ok.
Make sure the wire/nozzle is clean.
Do the search motions perpendicularly to the wire/nozzle.
Make sure the wire doesn't move in the tip during the search. -
Hi Bidzej,
I am running the search at 5mm per second. I use a tig tip for touch sensing to remove the wire error and keep a constant TCP. I dont get an issue when I do a straight 2D or 3D search. I only get movement with the part when I run 2D Shift and Rotate or 3D shift and rotate.Thanks
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Hey Andrew
I’m wondering are you trying to combine the 1D and the 2D with rotation in the same program? If so I may be able to help. -
Hi,
I am only doing 1 search per program. -
Hi Guys,
quick update on this issue. I have now had Fanuc visit our workshop on multiple occassions. While Fanuc Japan is not openly admitting that there is an issue, they are continuing to send Techs to troubleshoot, take backup and try "stuff". I have actually been able to replicate the issue in WeldPro which tells me that there is a fundamental flaw in the v8.30 of the robot controller software. -
this is strange, I've never encountered anything like it... keep us informed on the details!
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Andrew
Where do you see the 10 mm offset?? in the X or Y component?
So, you defined the touch frame and touch schedule whith 1-D shift+Rotate
Your search is in X? or Y?If you search in X for 1-D shift the Y offset component is fixed
only the X component is calculated from the search and the master dataYou should be doing two searchs, the rotation is about the first point
the second search provide the rotation offset
If the two points are very near, the smallest deviation can cause the robot to drift
Can you share you simulation to see it?