Hi, everyone
I work for an automotive company which recently purchased fanuc robots with Aro welding guns. Meanwhile, we bought gun motors also from Aro which lead to unsolved situation nowdays.
robot-forum.com/attachment/37555/
I found that welding gun takes less than 0.1s get 85% preset pressure and then take around 1.5s reached accurate value when we doing welding gun pressure test.
robot-forum.com/attachment/37556/
robot-forum.com/attachment/37557/
This situation is unacceptable for welding process which requires gun behave quick and accurate.
Then we tested all aro guns in factory and found all X guns and part of C guns got this problem. We tried many ways like check zero pos, test in T2, change gun max velocity & acceleration, robot initialization, re-Autotune, re-calibration of pressure. All with nothing changed.
robot-forum.com/attachment/37554/
Then I both reached Fanuc and Aro france for help. And they replied like these:
Aro:
robot-forum.com/attachment/37558/
Fanuc:
robot-forum.com/attachment/37560/
Anyone who could help me give a clue, whose fault, actuator or controller ?
Thanks for everything.