Im trying to weld around a corner but am having difficulty getting the robot to adjust the torch position as it moves around the corner. The torch position at the end of the arc will have to be 90 degrees from how it was at the start of the corner. I was able to do this before when practising but the torch was in an easy orientation but now the torch has to be at a set angle in a more difficult orientation and this is making doing the arcC very annoying. I thought this might be possible using tooldata or something but I wasnt sure.
ArcC
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David.mms -
August 16, 2018 at 3:09 PM -
Thread is marked as Resolved.
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I am guessing that in the middle of the circle is where you might be having problems, like the torch is tilting way down or up. Study up on CirPathMode in you instructions manual. You will find that it can be helpful.
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Thanks, I'll look into it.
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If I'm not mistaken the motion planner does NOT use the orientation from CIR/middle-point, instead it's trying to re-orient from start to finish which can cause some funky behavior.
If it has to be a circular move, you can simply add another ArcC and split your path in half, but many times (especially corners) you're better off simply doing 4-5 smaller ArcLs instead of one or two ArcC's.
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I still seem to be having problems. I tried to use two ArcC instructions but due to the position of the torch the robot is still not moving correctly around the corner. I was able to use two ArcC instructions when testing with the torch in an upright position but the torch needs to be in the orientation shown in the below image which seems to be causing a problem. I was also unable to find CirPathMode in the instruction menus.
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Sorry for asking what might be obvious, but have you verified that your TCP is good ? (i.e. rotated-reoriented the torch around Z) ?
When you say it was OK with the torch upright, was it upright (without re-orientation) through the whole circle path ?The weld / part is pretty straight forward so this shouldn't be a problem which make me suspect that something else might be going on.
Who had done the refurb ? ABB or the guy in the shed down the street ?
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If I'm not mistaken the motion planner does NOT use the orientation from CIR/middle-point, instead it's trying to re-orient from start to finish which can cause some funky behavior.You are correct, unless you use the instruction CirPathMode\CirPointOri, 1.15 in rapid instruction manual. It forces the robot to use the orientation of the taught middle point. Also, good point about checking the tcp.
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It seems like using 2 MoveJ instead of 2 ArcC moves seems to make it easier
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It seems like using 2 MoveJ instead of 2 ArcC moves seems to make it easierWhile 2 MoveJ might work in a few circumstances, the paths are no longer calculated at the TCP. This usually causes the TCP to go everywhere but where you want it. If you try this, go very slow.
Check the TCP as suggested by SAABoholic & Lemster68. If it is off, I highly suggest you verify the calibration is perfect before reteaching and verifying the TCP.
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I made a new tcp which seems better and am able to get around the corners using arcC. Although still need to make some adjustments to the speed as the movement around the corners is quite slow.
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Try CirPathMode \CirPointOri;
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Do you know how to access this through the teach pendant as I haven't used it before?
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On (older) S4 I think it's called.... CirPathReori, and the syntax is CirPathReori TRUE; (or CirPathReori FALSE; to deactivate it)
If you have a newer release of 4.0 (~90 or newer) you should have CirPathMode in your picklist, just keep scrolling through (hit 0 if I remember correctly) and you'll find it....