Manual correction in AUT MODE(Help)

  • Hi Roboters;


    Our customer demands us to jog the robot for compansating the y direction with respect to tool direction in aut mode while welding. We are using arc_voltage control to compansate z axis(tool frame). Therefore we put the buttons and connected to buttons to plc. when operator push the button for tools y+ movement robot changes the next position values so we cant change the actual pos. Also , we are welding the circular material when it changes the next pos values circle movements changes also.


    And tried to change variables like this...
    Tool_corr_on=true;
    Tool_corr.y=[x,y=50,z,a,b,c] and that is not a solution for our system.


    exactly what ı am traying to do is that when we press the button robot must go to y + 1 mm but it mustnt change the position values
    KSS..8,3,20
    Wv .. 4,0,10



    thx in advance for your help;

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  • To compensate TCP by y-axis usually used scaning technologies (TH6D scansonic or similar). Your task (circular movement) can't be easily soleved used only KRL-functions. You point a right way: when end point changed, then all path changed dramaticlly.


    Maybe you can program this path using spline-type movement. But also you'll need to move eash position to provide plausiblity. It would take more time and hard cycle-proggraming ( using plc with HMI)

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  • Do u know any variable to change the coordinates like tool_corr.y vs... This will help to solve the problem .Because we wanna use this function until settiing a welding parameters. After that customer wont need to use this.


    Thx for ur reply also :smiling_face:

  • i am having hard time following your description but it sounds like you are trying to make corrections on a wrong end - did you consider modifying base?

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

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