Hey, I'm just starting out as a robot programmer in a company that does large weldments. I just discovered the touch sensing functionality and i think it will be great to use as parts are never in the exact same orientation. I was hoping some of you might have a training manual that i can use to learn this functionality. Also, most welds are flat gaps between parallel plates or sheet metal on larger beams to be welded to. I'm not sure how i could use touch here and would love to hear your ideas. Thanks in advance.
Using Fanuc Touch sense on flat weldments
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Haseeb -
December 19, 2017 at 6:05 PM -
Thread is marked as Resolved.
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If the gap is big enough, you can use V-Groove search to locate center of weld and then follow weld path with TAST ...
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Also looking for info on using Touch Sensing... Got it installed but have yet to receive help on how to use it. A picture or few lines of logic to show how it should look would be really helpful on its own.
Haseeb if you get any info, I'd appreciate the pass along. -
dha The grooves are kinda small, I dont believe big enough for groove touch sensing unfortunately. We don't have TAST installed, but we do a lot of Aluminum and non ferrous metals don't hold a stable enough current to employ TAST, atleast from what I've read. If you disagree, I'd love to know. For now, I'm Using simple touch sensing in 2D shift on two corners and storing the shifts in position registers. Then using PR offsets on all the welds I'm doing. It's working out better than nothing but definitely not as good as TAST would do.
Copacetic. Sure, drop me a private message, I have materials that will definitely help you. I was able to go from knowing nothing to having it run in a day, it's pretty simple.
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Also, kind of a dumb question, but do you guys think if the weld path deviation is about 5mm, using a larger weave, say 6mm will get the job done without messing it up?
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Touch Sensing is a nice feature with many possibilities. You can perform multiple searches for different deviations, store their results and even play with them to achieve things that are not directly possible through standard functions of TS.
But it's virtually impossible to program correctly without a manual (or without a huge head and learning by heart I guess) - the most important thing I guess is the table with different search patterns which tells you how many searches and in which directions you need to perform.If you have the configuration ready, the logic is pretty simple: you start the search with a given schedule and a PR, end the search and then use TOUCH OFFSET / TOUCH OFFSET END in any section of the program that you need.
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This post might help you out some:
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Does touch sensing needs plc?