Hello,
I can desperately use some help or guidance. I have reached out to Yaskawa in Ohio, Michigan, Pennsylvania and Ontario without success. Here is the problem. I have two DX 200's running a pair of MA2010 welding robots. They are positioned at each end of a pipe that varies from 70 to 142 inches. I do a sfton in robot frame to the approximate end of the pipe plus 2 inches. I then do an Accufast laser scan to find the exact end of the pipe. After I get the laser data, I shift to base frame and move to the exact welding position. The only difference between the two robots is the one is mounted with its base perpendicular to the pipe. The other is mounted 45 degrees to the length of the pipe. (to allow the robot to swing around and become a welding cell when not welding pipe). It is on this second robot that I am stumped. I set up user frame 1 and 2 with them both being exactly the same. When welding shorter pipes, everything is great. However on longer pipe, the weld position is out. Tracking the data, when the Accufast data is imported, and I send the robot to position, there is a small x variance, but a large y variance. Here is the sequence I am following. RF is robot frame, BF is base frame.
Robot one (square to pipe) Robot 2 (45 degrees to pipe)
Import rough length of pipe. RF Import rough length of pipe. UF 1
Put length data in element 1 of shift. (P10) Put length data into element data if shift.(P21)
Move robot the shift P10 BF Move robot the shift P21 UF1
Do Accufast scan Do Accufast scan
Convert position data to BF
Put element 1 (X) into P10 Put element 1 into P21 (x)
Shift in BF Shift in BF
Weld Weld
There are no base slides, so the robot can use BF and RF as two separate frames, that are exactly the same. This lets you shift and amount in RF and shift a further amount in BF making them additive. If you do two shifts in the same frame, the second cancels out the first. If I shift in UF 1 and then try to shift again in UF 2, the robot goes way out. I will set the UF 1 and 2 more accurately tomorrow.
Robot 2 preforms the first shift in UF 1 perfectly, it is when the Accufast data is placed into the P21 that things go screwy.
Please, any help would be deeply appreciated. Also, anyone willing to travel to Pennsylvania to solve this can literally ask any price.
Thanks in advance.