I'm working on two separate WaterJet systems with two wall mounted Fanuc M-20iA robots. One booth has R-30iA controllers and the other has R-30iB controllers.
Both booths have turn tables that aren't repeatable and customer is not interested in fixing underlying problem so I'd like to try a different approach. When they swap out tools for different parts we always have to touch up the programs as they are usually a couple of millimeters off in both (X) and (Y) and most of these parts have 50 plus features that are being cut out. This is incredibly time consuming and with 2-3 swaps per 24 hour period on both sides of both booths this leads to substantial downtime. Only one frame is being utilized regardless of the part that we are running. They have routines for calibrating TCP but I was wondering if I could use this same method to update my user frame after tool swap to shift my programs into position to avoid doing touch ups? I've used touch sense before on mig welders but this is a water jet and that technology can't be used. I'm assuming this would utilize motor torque feedback as a sort of "touch sense" method like in the TCP_CAL subroutine. I've only used this method once to load a randomly picked metal dowel into a hole until it bottoms out. I would assume I could use the TCP_CAL style method to update my frame in the same manner as it works on the TCP_CAL.
Has anybody written a routine that does this? Does anybody have an example program I could look at/use?