Dear Members,
We are using a Fanuc Arc Mate 100iD with 2 pieces of FANUC two axis positioners for an arc welding task. For determining the start of weld, we have a 3rd party 3D camera mounted on robot`s 4th axis and this outputs the coordinates of the weld start point. We are using this as a USER FRAME and all welding points use this UFRAME, so this way we can compensate the deviations of product changes and welding fixture changes (welding fixtures are mounted on the 2 axis FANUC positioners).
Unfortunately the welding angle is not ideal for all the points at the position where we can determine the start point(frame) with the 3D camera.
The main objective would be to be able to determine the welding frame at one position of the positioner, after this, rotate it to the most ideal position of welding and weld it there. We got stuck in transforming the frame when the positioners are moved.
Is there any way of achieving the task using coordinated motion and calibrating the positioners ?
