Creating new tool - TIG welding S4C+

Hi All,

I need some advice.

My partner has an ABB IRB140 TIG welding robot (S4Cplus).

I have create a new tool by the 5 point method for the tig torch.

4 approach point and an elongator point for Z axis with a fixed tip.

After that when I jog the robot in orientation mode it is visible, the TCP is not in the point of the tungsten electrode, it seems it is approx. 20 mm upper.

I can took some videos.

Linear movement seems ok, but oriatation is not good...

What can be the problem? I missed something?

With 7 mm tungsten stickout the TCP should be like the attached drawing.

However in the tooldata there are completely different x,y,z values:

I draw these values in the drawing with red lines.

It seems longer than the theoretical values (according to the 3D model).

Thank you for your thoughts.

The mean error was approx. 2 mm the max error was approx 8 mm during the definition. It seems high for me...

Thanks. I will check it however I have updated the rev counters previously, because the batteries were low.

So it must be good.

Could be there any offset in parameters (e.g. somebody have set manually) that affect the TCP like this?

The calibration marks will be allingned, I am sure.

Calibration offset...

I can find it under the tooldata?

I will examine the manuals about it.

I have to re-calibrate the axes because of the dead batteries.

After that, I have checked the alignment of the sings, in sync position (all axes in zero).

It looks terrible.

I have checked the stiker.

I think it doesn't match.

What should I do?

Use the parameters on the stiker?

How can I modify them?

I have found it in the system parameters...

Should I owerwrite the values with the parameters on the sticker?

I could not make any program because of the TCP deviation. When I taught a circular movement, the robot went out of the programmed path...

I would be happy if I'd have a working tool...

Here are some photos during, and after the updating.

20230222_robot

Folder

1drv.ms

It is visible that the 1-2 and 5 axis are the worst.

When you look at the robot from front of, it is a bit turned left...

At the weekend, I will try to modify the offsets, and pray...

Thanks for lighting me up!