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Creating new tool - TIG welding S4C+

  • wld82ngnr_hu
  • February 19, 2023 at 1:37 PM
  • Thread is Unresolved
  • wld82ngnr_hu
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    • February 19, 2023 at 1:37 PM
    • #1

    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.

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    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:

    image.png


    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.

    Files

    defining_tool.pdf 160.47 kB – 4 Downloads TCP_Fer.pdf 59.9 kB – 1 Download
  • wld82ngnr_hu
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    • February 19, 2023 at 9:08 PM
    • #2

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

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    Lemster68
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    • February 21, 2023 at 1:45 PM
    • #3

    Check your calibration offsets. Then, move the robot to all zero joint angles with a MoveAbsJ. Verify that the rev counter indicators line up satisfactorily.

  • wld82ngnr_hu
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    • February 22, 2023 at 12:28 PM
    • #4

    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?

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    Lemster68
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    • February 22, 2023 at 1:54 PM
    • #5

    Yes, as I mentioned, check the calibration offsets

  • wld82ngnr_hu
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    • February 22, 2023 at 2:22 PM
    • #6

    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.

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    Lemster68
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    • February 22, 2023 at 2:46 PM
    • #7

    No, that is a system parameter for motion. It should be verified before even updating rev counters. They can be viewed in the moc.cfg file and there should be a sticker on the arm with those numbers, older controllers sometimes had them in the cabinet also.

  • wld82ngnr_hu
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    • February 22, 2023 at 7:19 PM
    • #8

    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?

    Images

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  • wld82ngnr_hu
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    • February 22, 2023 at 8:06 PM
    • #9

    I have found it in the system parameters...

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

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    Lemster68
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    • February 22, 2023 at 8:31 PM
    • #10

    Do you have any programs already made with the robot in this condition? If you do, and you change the calibration offsets, then those programs will be junk. If not, you can change them to make them match. Then update rev counters and go. Make a backup FIRST!

  • wld82ngnr_hu
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    • February 22, 2023 at 11:47 PM
    • #11

    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... :smiling_face:

    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...

  • wld82ngnr_hu
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    • February 22, 2023 at 11:50 PM
    • #12

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

    Thanks for lighting me up! :thumbs_up: :face_with_tongue:

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    • February 23, 2023 at 2:00 PM
    • #13

    You are welcome, good luck.

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Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
  • irc5
  • IRVIsion
  • karel
  • kawasaki
  • KRC2
  • KRC4
  • KRC 4
  • KRL
  • KUKA
  • motoman
  • Offset
  • PLC
  • PROFINET
  • Program
  • Programming
  • RAPID
  • robodk
  • roboguide
  • robot
  • robotstudio
  • RSI
  • safety
  • Siemens
  • simulation
  • SPEED
  • staubli
  • tcp
  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
  • YRC1000

Tags

  • abb
  • s4c+
  • S4C
  • Tooldata

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