Hello.
Welding robot ABB IRB2400L S4C controller BaseWare 3.2
I'm trying to create a program of pipe welding.
The command "ArcC" - robot moves in a circle, but Torch head does not change its orientation.
How to make the robot move around pipe and torch head at the same time changed its orientation?
What manuals need to reed?
Please give a hint or share information.
Pipe welding
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raylian -
February 17, 2016 at 9:50 AM -
Thread is marked as Resolved.
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Just a guess, but could you set the TCP in the centre of the pipe diameter?
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Yes I can. What will it give me? Can you explain your idea? I guess that I do not know or do not understand. I'm just learning to program a robot ...
Thank you. -
Unfortunately I did more installing/repairing rather than programming but once the TCP is defined as the pipe centre you should be able to rotate the torch around it. Hopefully someone on here with more programming experience can help?.
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I'm pretty sure the ArcC command can reorient, can you move your robot and manually define the start, middle, and end points?
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Yes, of course, I tried to manually change the orientation of the torch head in the start, middle, and end points but I get erraor of axes.
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See CirPathMode instruction description, it change the behavior of a circular path orientation.
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Thank you. I will definitely look.
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You don't mention what position it's in and if you're using a positioner / external axis or not.
I don't remember how the older systems behave but the newer ones only use X/Y/Z (and not the orientation) from the circular (first) point of a MoveC/ArcC position,
which generally results in a reorientation error if you program a pipe in two segments (0-180, 180-360).ex. ArcL\On P10....
ArcC\Off P20, P30....The robot will use P20 for the radius of the circle, but it will ignore the orientation of P20 while moving from P10 to P30
Solution would be to split it up in smaller segments, at lest four, preferably eight, or, although it might seem counterproductive, simply use a lot of MoveL / ArcL's.
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Thank you. I've been thinking about it. But now we do not handle the pipe and the problem was gone.
When the issue again will be relevant I will try all options.