]Hi, here's a simple question, when using touch sensing, do I have to sense in the very same degree with the positioner. The thing is that we do some welds on an assembly and it moves but i want do a 3-d search only once for the six welds. Tell me if I'm not clear. the robot is a 120ic with system 55 lincoln
welding with t.sensing
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vincent7018 -
January 10, 2018 at 2:41 AM -
Thread is marked as Resolved.
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Without knowing more about the weld joints, if all 6 weld joints move in relation to the area you are touching then you are doing you only need to perform the 3D touch once.
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I've done an application like this once - there parts were rotors for shredding machines, in form of cylinders with "teeth" welded to them on the outside. The problem was that the cylinders were randomly fixed to their faceplates (which were in turn mounted on the positioner).
It is doable, but quite complicated. First, you need to find your "zero point" of the part by turning the positioner slowly and searching for it (TS or SKIP-function). You need to save the positioner's joint position and compare it with the "master piece" (which I recommend to keep for reference) - this will give you the offset for the rotary axis, which you need to add to the TS results.Hope it's clear what I mean
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Vincent
To do that:Attach the touch frame to motion group 2 (Reference group=2)
Do the same in your touch schedule. That way the resulting OFFSET would be relative to group 2 frameThe calculated offset would be valid, no matter if you flip the part
Because OFFSET is relative to group 2 FRAME