I have a KRC4 Kuka controller with linear rail and 2-Axis Positioner.
I have a part I am trying to weld where path motion first start in +X horizontally, then there is a curvature so the weld joint transition from being horizontal to have a downward angular deflection of about 10 degrees, then a straight leg at the angle followed by an upward deflection so the joint is now horizontal. In order to weld this properly, when I reach the downward deflection point I need to change the TCP orientation so my welding torch rotated the 10 degrees about the Y-Axis. This way I keep the torch normal to the joint at all times.
I have tried circular and linear movements in the transition region and each time my TCP speed goes to almost 0 as the TCP orientation changes. When this happens my weld looks awful. I really need to change the orientation but keep the TCP moving in the X-Direction without changing speed.
Sketch below shows what I am trying to achieve. The TCP speed needs to remain constant as the torch orientation changes.
Any suggestions on how I can accomplish this?
Thank you - Nelson