I'm am wondering what the adjustments in the track TAST program actually mean and do. I work with a dual arm Genesis machine with two Lincoln 455ms' that performs two curcular welds similtaniously. I often have issues with the tracking going away from the seam' crashing into the part and just general innacuracy. I see the TAST perameters in the schedule but don't know what they mean or what would happen if I changed them. Any help would be appreciated
Track TAST parameter adjustments
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Quazik934 -
January 27, 2019 at 10:11 PM -
Thread is marked as Resolved.
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For most cases it is enough to set gain and bias parameters. I always use constant setting so I set current value too.
What controller do you have? With R-30iB Plus you can use very helpful screen MENU -> Status -> TAST.
What material are you welding? Thickness? What type of seam?
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Indeed it is an R30IB controller. Material thickness is 8.5 mm stamped mild steel, welded to a cast steel driveshaft inlet. I guess I'm just wondering what the settings gain,bias,L curv, V curv ect actually mean and do.
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Easiest thing to do and check if TAST is working is to set TAST schedule to FEEDBACK and enable V compensation only (all other settings default)
Take some steel plate (10 mm) and record three points:
1st point weld start with correct stick-out
2nd point 20 mm from start point with correct stick-out (this will give feedback value for TAST to follow)
3rd point weld end which is programmed with 30 mm stick out.Test and observe if TAST is correcting the path.
If not, increase V_Gain value until robot nervously correct the path.
After that lower it until you get stable stick-out throughout the whole weld.Also check you tool frame settings, as corrections of TAST depend on it.
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Ok I will try that. This is photo of the settings of the three TAST schedules we use. Any idea what these values mean and how the affect TAST?
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First two are Gain (for vertical an lateral tracking). This parameter is simply telling robot how to convert Current value into milometers.
Current is value of welding current (or tracking signal) that the robot will follow. If you use CONSTANT setting, that you must enter the number. If you use FEEDBACK instead, robot will record this data for first few millimetres of weld.
Bias parameter will offset TCP path.
You should really read manual for TAST ...