I hope you can help.
We have a problem with seam tech tracking.
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:
PTP P0 ;approach point
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?