Has anyone used Laser optical sensor on ABB when welding a seam?The sensor should correct the welding path when there is a deviation between the real seam path and the one you teached. Somehow,the gun shakes on Z direction when tracking.Why does it happen on ABB ,this phenomenon never happen on KUKA and FANUC.
Shake on z direction when ABB use optical tracking
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kulegege -
July 1, 2016 at 10:44 AM -
Thread is marked as Resolved.
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I haven't done any seam welding, but I've seen some "ripple" (or "cogging") on an older laser cutter.
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What does your system look like ? S4 / IRC 5 ?
Which laser camera do you have ? Servo Robot / Meta ?
What's your track data values ?
Odds are your gain is fairly high but without additional information it's hard to guess....
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Thanks for reply!
My system is IRC5, the laser camera nether of those ,is made by my company .
I have worked on other projects these days,sorry for waiting.
There is the sensor log copied from abb. -
Which RW, 5.X or 6.X
Is it Binzel ? Or is it under development ?
Looking through the tracklog your sensor reading in Z is quite "lively" which leaves you with two options....
A) Try and redefine your joint in the camera software to stabilize Z, if the joint is a machined surface there might be issues with reflections.
B) Increase the filter / dampener in your track data (this will dampen / make it slower) the overall correction so it might make it too "numb" for what you're trying to do.
filter (path correction filter)
Data type: num
The filter component defines the time constant of a low pass filter applied to path
corrections. The component may be set to values from 1 to 10 where 1 gives the
fastest response to path errors detected by the sensor.