Hi
Is possible , Can i create touchesense for welding application or I must buy tech from kuka
Thank's
Hi
Is possible , Can i create touchesense for welding application or I must buy tech from kuka
Thank's
TouchSense for doing a 3-point touch of the part, and a Base shift before running the weld? Yes, it can be done. You will need to create the math and the search motions to do this, but it is possible. Most KRCs come with a module called KUE_WEG.SRC (usually buried in the /UTIL directory) that has a lot of the math routines to do some of these operations (but they're not documented and the comments are all in German).
If you don't have the fast-sensing input hardware, you'll need to use normal inputs and make your search motions slower, to avoid issues with the 12ms input update time.
my application requires only 1 shift in y ,world coordinate, but how can shift the points, if this points are inline form.
Touchsense requires hardware ?
Touchsense works with inline-form points by using special inline forms that connect the Touchsense commands to a particular point. You can achieve the same using standard inline forms, as long as the name of the "search" point is standardized and is not changed.
Fast Measurement requires a hardware kit. Touchsense normally uses the Fast Measurement inputs, but it is entirely possible to use regular inputs. But the search motion must be slower to compensate.
Thanks 4 all
I can tell you that I have spent many hours working with KUKA's Touch Sense software in a welding application and the software does work and does all of the math to correctly reposition the TCP. In my application, I also needed to compensate for part rotations around all 3 axis; I believe the math to do this on my own would be daunting.
The biggest challenges we have faced with Touch Sense was in using the correct type of sensor. If you plan to use the welding wire as the sensor, make sure there is a wire brake (so the wire does not get pushed back up into the liner when touching the part). An alternative is to turn the torch side ways and touch the part with the side of the wire. In our case, we developed a simple rigid probe to touch the part with.
You will also need a "master" part from which to determine the baseline measurements. You will need to hang on to this "master" so you can recalibrate the system if needed.
Let us know what you decide to do and how it is working out.
I can tell you that I have spent many hours working with KUKA's Touch Sense software in a welding application and the software does work and does all of the math to correctly reposition the TCP. In my application, I also needed to compensate for part rotations around all 3 axis; I believe the math to do this on my own would be daunting.The biggest challenges we have faced with Touch Sense was in using the correct type of sensor. If you plan to use the welding wire as the sensor, make sure there is a wire brake (so the wire does not get pushed back up into the liner when touching the part). An alternative is to turn the torch side ways and touch the part with the side of the wire. In our case, we developed a simple rigid probe to touch the part with.
You will also need a "master" part from which to determine the baseline measurements. You will need to hang on to this "master" so you can recalibrate the system if needed.
Let us know what you decide to do and how it is working out.
I know how to work the touchsense ,i use this kind of sensor with otc robot, and before touch the piece ,send out the wire and cut