Fanuc welding robot touch sensing help

For touch sensing, you will need two searches. 1 search X, Z direction for the start of the weld, and 1 search for X, Z at the end of the weld. You can only use seam tracking on a weave. These are both teach pendant instructions that you put into your program.

I believe a simple search only allows you to search in 1 plane (this would work in your application because your Tee joint is on a table). If the part is in front of the robot, you are doing a search in the 'X' direction. Typically you would use a fillet search to give you your 'Z' offset, but that will not change much because the part is on the table. You can shim one side of the part after you taught your weld & search if you would like to see a change in the 'Z' direction.

So, you would use a "SEARCH START [i] PR[x]" for the start side of the weld, where i is your touch schedule number, and x is where your offset value is stored. Then you would use "SEARCH END [i] PR[x]" for the area at the end of your weld. Attach the "Touch Offset [i] PR[x]" instruction to your weld start, a "Touch Offset End" to the weld end, and you should be good to go.

With a T-Joint like that, always run a 2-D Fillet/Lap. Always run Z and which ever direction the robot needs to travel (X or Y) This gives you an accurate offset.

Quote from Kevin Davis

Hello,

I am an intern and I'm just getting started with the welding robot. We have a Fanuc ARC Mate 0iB robot. I was able to figure out basic programming to weld parts. However, to weld similar parts we have to constantly reprogram it and do touch ups considering the tolerances. We are trying to weld a simple T joint. IT would be really helpful if anyone would be willing to tell how touch sensing and through arc seam tracking is to be programmed for a simple T joint (picture attached).

Thank you very much in advance.

Solved?