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.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
    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)

    We are not responsible for injury, accidents, acts of random stupidity, burning your house down, exploding parts, and other undesired actions (all of which are possible) resulting from the use of ANY information contained herein.

  • 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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