Hello everyone!
We have some issues when setting up the tracking system WG.
Our system consist of Kemppi A7 MIG welder and ABB IRB 1600 with IRC5.
We mounted board and sensor as described in manual, then configured WG in robot controller. Seems like the system works (leds blinks as manual said, values from WG displayed on Production manager screen). Even tracking on Z-axis works correct (tracking the height). However, we need to weld T-joints and use centerline tracking.
That is centerline-tracking result:
Welding parameters is stable:
Gains: Y = 0, Z = 0 (Welding start and finish points manually aligned at the plates joint)
Such avoiding we seen at different gain combinations. Greater gains lead out the torch faster, and smaller is slower.
We tried to analyze that problem, and then starts to collect data from welder with RobotStudio Signal analyzer. This gave us two observations:
1) As can be seen, neither the TAST (Through-Arc Seam Tracking, signal which proportional to arc length), nor the current signals correspond to weave pattern. Can WG work normally with that welding current, if WG Ampere sensor measures must approximately correspond (theoretically) WeldingCurrent signal from welder?
2) Voltage values from WG and from welder doesn`t matches with difference more than 15 V. We will not be able to compensate such large discrepancies with Voltage offset in PROC.cfg.
Local ABB authority can`t help us with that issues, and now we waiting for answer from central technical support. But system must be done ASAP, and maybe you know, what we can try to do?