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.


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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.

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  • 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?

  • 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...

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