Hi guys.
I am new here.
My English is not very good...
I work with motoman robots.
I have a welding between two points.
How do I make sure that when someone edits the position of one of the points, a minimum distance of 15mm between the two points is maintained?
Lock minimum distance between two points
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clebermori -
May 31, 2019 at 10:15 PM -
Thread is marked as Resolved.
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Not easily. You would have to grab current position's, do math, then determine if your minimum distance is in range.
A possibly easier way, you don't specify a controller generation. You may have the ability as long as you are on NX100 or newer to have the safety reteach function. This allows someone to modify positions by only a maximum distance from the taught position. There are 4 parameters for this. One to turn the function on, 1 to specify the max amount in XYZ, 1 for max amount in Rx, Ry, and Rz, and another for maximum amount of rotation on an external axis.
The downside to this function is someone in operator's security level can modify positions.
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If you're using DX100/200 you can use the Weld Length Check function to measure the weld (see attached picture).
Define the start position, (we use ROBOT frame type), set the length as required, then set the tolerance to 0mm under length and tie it into an universal output. (This is done within the WLC function, no need to alter the user CIO ladder).
Set the output to ON before the weld is made, check to see if it's OFF after the weld is made. A successful measurement will turn the output OFF. This means you can validate every seam you make as being within length specification.
Weld Length Check is a FD parameter, so if you don't have it activated you'll need Yaskawa.