Speed of servo spotgun

Tushar_Patil · February 7, 2016 at 8:29 AM

Friend, how to increase the spped of sevo gun while executing spot instruction. Currently in auto mode the spot execution is slow approx it requires 2sec for each spot and i had worked in kuka robot it requires only a second to take spit. What are the changes to be made in moc.cfg file?? Plz suggest or mail me the backup or moc file. Robot usef is 6700 with 6.2. Robotware

M.Ozkan · February 8, 2016 at 5:14 PM

You can change in System Configuration->Stress Duty Cycle->Speed absolute Max

or in Moc.cfg key "Stress Duty Cycle"

Speed absolute max=rpm

Tushar_Patil · February 9, 2016 at 2:34 AM

Thank yoy fluke,
Now it is 400 if i calculate it, it comes 523 rad/sec. I had increased acceleration & deceleration by 2 it is giving some result but still if we look the spot parameter the total cycle are 35 to 40 means it requires only 0.8 to 1. Sec yo execute a spot but robot holds the gun for approximately 2 sec. How it could be reduced? Any idea.

M.Ozkan · February 9, 2016 at 6:47 PM

I guess it is not speed problem.

Which one weld controller to be used in robot?

Tushar_Patil · February 10, 2016 at 8:40 AM

Obara with devicenet communication.

M.Ozkan · February 10, 2016 at 7:22 PM

Normally gun will open when "Weld Completed" signal comes from weld controller. If weld completed signal is delayed e.g cause of Squeeze or Hold parameter in weld controller, robot will stay closed position.

General sequence of SpotWeld:

Gun Close (Robot)
Apply Force and optional measure thickness (Robot)
Weld Start signal (To weld controller)
Wait weld Complete signal (from weld controller)
Open Gun (Robot)

You can look spot parameter "Squeeze" and "Hold"

Note: May be Obara has a different parameter name.

Tushar_Patil · February 11, 2016 at 6:11 PM

My parameter are so nominal
Highest parameters are
Squezze time:, 1cycle
Hold 5 cycle
Wel1: 13 cycles
Weld2: 15 cycles
So we can see a spot is completed in 0.8 second, still it take time.

M.Ozkan · February 12, 2016 at 11:17 AM

Please post robot backup

Tushar_Patil · February 12, 2016 at 12:08 PM

plz check the backup, the servo motor is MU200.

Tushar_Patil · February 12, 2016 at 12:12 PM

which method is good for tip wear compensation. MeasutrewearL or RecalTcp ?
In my case i am using RecalTcp with 50 50% wear ratio. But it is not working properly.
Also for modifying some spot we need to use new electrode (cap tip) or i can do the touch-up on same wear old cap tip?

M.Ozkan · February 13, 2016 at 11:52 AM

Robot backup seems normal. Please observe g1_weld_complete signal. When signal coming from weld controller?

Tushar_Patil · February 13, 2016 at 1:50 PM

Issue solved by changing communication parameters

neel · April 17, 2018 at 6:42 PM

Can you please tell me which parameter did you change in communication ?

And also I'm facing an issue which is..
Whenever I do tip wear calibration using MeasurewearL the "curr_wear_fix" value is coming always in negative.
Can anyone support me on this and customer wants only MeasutrewearL instruction to be use.

neel · April 18, 2018 at 2:10 PM

Please Help

Speed of servo spotgun

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