welding signal

    Hello all,

    KSS 5.6.2 ***** 7th axis: kuka linear unit ***** 8th axis: rotary axis like kuka single-axis positioner KP1-V

    The application of the robot is welding and I want to weld both ends of the pipe, i.e. the head and the bottom, completely 360 degrees. Considering that spiral welding is required at the pipe body, I have set the motor to gearbox ratio higher than the actual value so that I can rotate the pipe synchronously for ten full revolutions.

    I need a uniform weld all the way around the pipe. Currently I hold the robot steady and rotate the part 360 degrees. During the rotation at the beginning and end of the job, the speed of the eighth axis is not constant and as a result the weld isn't uniform.

    is it related to how i must configure my positioner or does it need specefic command for rotation of positioner?


    thanks for any help

    Start and stop motions will always have accel/decel, and that will amplify the errors in your $RAT_MOT_AX.

    Simplest approach might be to extend the path beyond the beginning and end of the weld, and program some non-welding lead in/out motions to keep the accel/decel ramps outside the actual weld. This would require controlling the weld signals with TRIGGERs rather than regular output commands.

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