Welding torch tremor on BA006N

    Hi!

    I have a problem with robot BA006N.

    Let me describe a situation. The robot's task is to weld a V-shaped seam on a pipe. Accordingly, the robot is equipped with a single-axis positioner and the positioner is set up in cooperation mode with the robot. It is set precisely. Welding must be performed with oscillations and this is where the problem arises. When welding with a frequency of 1.5 Hz, there is a vertical tremor of the torch. However, at a frequency of 2 Hz, there is no more tremor. Moreover, the presence of tremor also depends on the width of the oscillation. Tremor at 1.5 Hz occurs at an oscillation width of 5-8 mm.

    Unfortunately, the technological process implies such oscillations (what an unfortunate coincidence!). Is there any idea how to solve this problem. At the link you can see a video with tremor at 1.5 Hz and no tremor at 2 Hz. https://drive.google.com/drive/folders/…C0y?usp=sharing

  • Go to Best Answer

    Well that has got me stumped......... ???

    I've never seen that occurrence before across the weaving frequency ranges.

    I would ask though, that coordinated motion maybe a factor here, as I see your application as a stationary weld STWxx instead, would it be possible for you to un-coordinate it and set up a simple STWxx welding program instead as a check?

    The only thing I can think of is firmware related, is this on old firmware or new firmware?

    I know your in a tough position regarding Kawasaki support, so I'll ask a question to one of my contacts about any reports of this or any proactive suggestions and see what they come back with, but it may take a few days.... :top:

    Thanks for the answer.

    Software versions are ASE_033300Z53 and SVE_08000006C. I can try older versions (I have some) a bit later. But I've tried to remove the cooperation and write a simple program

    (like

    LWS a

    LWE b, 1)

    and the robot behaved the same way.

    I also think, that it may be some resonance stuff, but I don't know, how to check it. I've tried another BA006N from other client, and all was OK.

    I've had a brief chat with my contact and they haven't heard of any issues like this.

    In light of what you've just posted too, does suggest it is local to your installation.

    Check:

    - Grounding is correct and sufficient.

    - Arm services grounding.

    - Why not copy the PCMCIA from the other robot and load that in, just re-zero and carry out a basic test.

    - This would rule in or out software and whatever the AS and SV the known good one is running.

    - I'm suspecting aux motion functions....maybe you can compare the known good one settings.

    Sorry I haven't responded to your earlier tests.

    I wonder if you over stated the load values substantially, whether this would start to null things out?

    Quote from dm.bogachev

    Solved the problem by moving the wire feeding mechanism outside the robot.

    WOW.......That is not really an ideal solution is it, considering the arm is designed to hold this equipment.

    To be honest, moving the equipment off the arm, did not enter my thoughts, I never considered this as a possible issue, but it appears to be conclusive with your tests.

    Can you post the equipment dimensions and weight and do you happen to have an image of the equipment on the arm before you removed it so that I can ask some questions at Kawasaki regarding max/min dimensions/weight/COG capabilities of the arm load?

    I would be interested to hear about their thoughts on this, as this would not be an isolated problem if it is load related.

    Glad you've at least found a workaround and let us know, one for my black book, thank you..... :top:

    Quote from kwakisaki

    Can you post the equipment dimensions and weight and do you happen to have an image of the equipment on the arm before you removed it so that I can ask some questions at Kawasaki regarding max/min dimensions/weight/COG capabilities of the arm load?

    I would be interested to hear about their thoughts on this, as this would not be an isolated problem if it is load related.

    Unfortunately, I've already left the client's place, so I don't have any photos of equipment, but it's a Kemppi A7 Wire Feeder (Specifications are below). We used this equipment for a very long time on a different robots (BA006L, BA006N, RS020N etc.), so I think that it's just a series of unfortunate events.

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