We finally got our new Yaskawa Motoman cell last week and I’ve been learning the ropes on programming. 2 days after install I’m running production parts, but I’m in need of a little help.
I have a 4 station weld fixture, with a part that gets welded on one side, flipped by hand, then welded on the other side. I’m using wire touch sensing to determine the height of the ring being welded to the tube is, to shift the weld in Z+ or Z-.
The next thing I would like to do is add a touch sense to verify there is a part in any given station or not. What does the logic look like to do this? I’ve done it multiple times on a Panasonic, but the touch sense routine is much different here.
Thanks in advance for the help!