A quicker way to fix displacement?

  • ArcMate 120iC / R-30iA


    Every once in a while a problem will occur and I will get displacement in the welding programs. The pattern is correct but all the points are offset from where they should be. Whenever this occurs I have to go through each program step-by-step and re-teach each point which put production down for a long time. Surely, there is some way to re-teach one single point and then have all other points shift accordingly. I have tried Googling it, but without knowing the correct terms to look up I just end up chasing rabbit trails. Could someone point me in the right direction? Thanks.

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  • HawkME

    Approved the thread.
  • I agree with TitusLepic, reteach your user frame. There is another option you can do, but it's not as relevant as reteaching your user frame. You can do a program adjust. Menu > Utilities > Prog adj. This is a useful tool, but I would advise taking a backup 1st. One wrong setting using program adjust and you can throw things off in the wrong direction.

  • Look at the offset register, is it still the same as it used to be ?

    When there is no offset applied, this is almost always a hardware problem and you should not try to fix this in software.

    Analyse the offset, when it grows with distance it is rotated, look at the bolts at the base of the robot.

    When the robot comes to a sudden stop there is a lot of force.


    When the offset rotates with the tooling, the problem is there. Maybe a colission ?

    When colission is not preventable, there is an option that can check and adjust your toolframe.


    When the offset is the same everywhere, the workpiece is shifted.

    You will have to make the fixture more sturdy and tell your collegues to be more carefull.

  • I agree with kluk-kluk

    Every once in a while a problem will occur and I will get displacement in the welding programs. The pattern is correct but all the points are offset from where they should be.

    Robot positions do not change by themselves, so something must be causing this to occur.

    Surely it would be worthwhile investigating the root cause of this before diving down the rabbit hole of rewriting or modifying code.


    Agreed, in usual terms with using user frames and offsets (standard way of programming), implementing this would save time and money down the line.

    It begs the question why this wasn't implemented at the point of installation/commissioning........


    If they are all out by different distances/directions, it could be people are remastering joints.

    If they are all out by similar distances in the same direction then something common is likely.


    For instance to name a few:

    - Collisions/Impacts causing the physical tool to twist/bend out of shape.

    - Loose bolts around the base of the robot or mounting point of the torch.

    - External fixtures moving or workpiece position not firmly secured in the same place each time.

    - Mechanical issues within the robot arm, such as gearbox backlash.

    - If the parts are presented to the robot differently without touch sensing etc


    If you can resolve this issue prior to code changes, then you can look further into program modifications at your leisure as this could involve a lot of work depending on how many programs that may need modifying.

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