Is this something I can fix on my robot?

    Hello, at work we have an EasyARC welding cell, I do offline programming using OTC FT-ST.
    I noticed off centering when I but the tip of my torch perfectly straight (like in the video) and do rotation manually on the RZ- and RZ+. When using offline programming it gets you some error in some angles.

    I already redid the TCP multiple times and it's the exact same result.

    Do you think that this is something I can Fix ? And maybe you have an idea why this is happening

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    (There is some error in the axis of the camera that we can't notice on the video +/- 1mm too)

    Thanks in advance :smiling_face:

    Lucas

    Edited 2 times, last by Lucas Schmitt (September 18, 2023 at 1:38 PM).

  • Lucas Schmitt September 18, 2023 at 1:33 PM

    Changed the title of the thread from “Is this something I can fix on my roboT” to “Is this something I can fix on my robot?”.

  • kwakisaki September 18, 2023 at 1:37 PM

    Approved the thread.

    What brand robot is it?

    In my experience, TCPs are never perfect. The open, serial kinematics of any articulated arm just make it impossible. Pose matters as well -- a TCP that works perfectly with (in your video) the pointer pointing down, will probably be much less perfect when the pointer is parallel to the floor.

    I've spent dozens of hours in the past attempting to calibrate a TCP below 0.5mm using a laser tracker and fine-tuning the XYZ values of the TCP. Eventually, you hit a point where improving one axis throws another off.

    Hello thanks for you answer.

    It's an fd-b6 arm with a fd11 controller from otc daihen.

    I was expecting this to be normal that's why I stopped and just started working like this.
    Is it common to do offline programming and than just adapt the points at the machine afterwards ? or do people mostly use touch sensor for welding when using offline programming?

    Thank you

    It depends. For most applications, like most MIG welding, being a mm off is no big deal. If it is, then tweaking the path on the real robot is standard practice. Sensor driven solutions are usually for when you're chasing parts with inconsistent placement (say, placed and clamped by operators without precision jigs), or when something like realtime seam tracking is required.

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