Using krl 8.3.25, with touchsense 2.0.6 and arc tech basic and advanced 1.5.2. robot is a kr120r2500 with a fixed rotational external axis.
the problem im having or question to answer is I have created a weld pattern to weld around a tooth using arcswi commands consisting of 8 steps including the arc on/off what i would like to do is use the same pattern for all three teeth using the touchsense to guide the torch to the proper start position of each tooth. I have figured out the touchsense portion but cant seem to get the pattern to repeat onto the next tooth. would it be better to have the arcswi portion to be called from a sub program or can i add in an offset to repeat the same pattern on the next tooth or can I create a group of said pattern and call that?
Saving a weld seam
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Blade -
June 29, 2018 at 1:35 AM -
Thread is marked as Resolved.
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Making this work would require that you can move each tooth into the same spatial location, using the external axis, and have the same features for the Touchsense to, well, touch.
Also, if your external axis is kinematically integrated, you would probably also have to apply a Base rotation to counteract the natural following the the turntable.
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so I will have to remap for each tooth then? It requires 6 passes to fill the weld so is there a possibility to make one master path per tooth then create an offset for each weld after?
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...depends on the offset. If, for example, the offset it just in the depth of the weld, then "looping" the weld path, with a simple cumulative Base shift for each iteration of the loop, is pretty straightforward.
If you're trying to offset laterally, and your seam is straight, it's still not too hard. If your seam is curved, you're probably looking at needing to do a tool offset, and keep your TCP at a constant angle relative to the motion of the seam path -- basically, your Tool X+ (for example) would always have to be pointing in the direction of the TCP motion at any given point along the seam.
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I'll attach a picture of the tooth. It is a curved path. I have been putting a ton of thought into different ways I can accomplish the weld seam. I am now leaning towards using the touch sense to create a path and applying the touch points to the weld path.
For example quick
Step one touch part set flagged touch to
toothmap1.Y=touch_pos.Y
Then create the offset based off the touch position taken I will want to be able to control/alter the velocity along different parts of the tooth as the table will be turning slightly to keep the weld on a flat plain.
Hopefully this makes sense lol