Seam Tech Tracking Meta Vision Systems

    Hello everyone!

    I hope you can help.

    We have a problem with seam tech tracking.

    KSS 8.5.8

    Seam Tech Tracking 3.0

    Sensor: Meta SLS25 from chineese Meta Vision System, firmware , as far as i remember, 1.312

    We've configured meta in WV, calibrated it with plate and tested on "butt" seams and straight fillets. After offseting the traking point in Smart Laser Tools it worked fine. STT guided a robot during a seam.

    With a circular fillet we had problems.

    The seam is: circular metal band + bent strip = circular fillet

    We've touch upped a trajectory on one side of this workpiece.

    Code was like this:

    SeamTrack Init

    PTP P0 ;approach point

    LIN P1;

    LIN P2;

    SeamTrack ON

    LIN P3; CONT

    SeamTrack Search For Start Target = P5 Dir P6

    LIN P4 CONT

    ARC ON LIN P5 CONT

    ARC SWITCH LIN P6 CONT

    ARC SWITCH CIRC P7 P8

    ARC SWITCH CIRC P9 P10

    We've tried tracking and after some sensor adjustment it worked quiet good - TCP was on a seam.

    Then we've touched up the trajectory on the other part of the workpiece. The structure of the trajectory was just the same as before.

    After this we've tried to test STT on this side.

    And TCP is began to be offseted from the seam firstly higher (Z+) and to one side, and ofter that we've disabled search of the start - it began to be offseted in opposite direction, somewhere below the seam.

    What are we doing wrong? Can anybody help?

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