Just for curiosity, could I connect X005 to both X006 and X007 to make wire and nozzle sensing work simultaneously?
Posts by guilherme.simoes
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That is right. But you also have to connect touch sensing signal from wire to gas nozzle inside interface box on Kemparc (attachment).Allright. Just confirming, which one of the connections will not be already done? X009?
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KempArc or A7?KempArc has two connectors in interface box (black box on top of power source). One is for touch sensing on wire and other goes thru DT400 wirefeeder to gas nozzle.
There is 10-way amphenol connector on wirefeeder. Pin F has touch sensing voltage. You need to wire it to Binzel cable assembly ...A7 has internal relay that switches between wire and gas nozzle touch sensing with fieldbus signal.
We made modification to enable switching between wire and gas nozzle for KempArc also ...
It's a KempArc Pulse 450 with a DT400 wire feeder.
The wire sense is already working but, to make enable switching between wire an gas nozzle (or just nozzle), I will need to wire the Pin F from the 10-way in DT400 to the Binzel torch? Is that right?Thank you very much for your help.
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There must be some wires in Binzel cable assembly. One of them is wire for gas nozzle sensing. You need to wire this to power source's touch sensing output.I know Kemppi and Fronius have connector on wire feeders with signal for gas nozzle.
What type of power source you have?
A Kemppi one!
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When you order Binzel torch, you have to choose torch neck with Sensor option. You also have to wire it to power source's touch circuit (or some other equipment for touch sensing).You also have to buy Touch Sensing option for Fanuc.
I already have a Binzel torch with nozzle sensor option and have Touch Sensing for Fanuc.
The information Binzel passed me was that the torch is smaller than the standard because, installing the nozzle sensor before the torch, they will be the same lenght.
And this nozzle sensor that makes the wire connection to the power source."Torch necks supplied with gas nozzle sensor; gas nozzle sensor connection is used for tactile seam location via gas nozzle. Please ask your robot manufacturer. " It looks that Fanuc provide this, but I can´t find it in their website.
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I have a Fanuc ArcMate with a Abicor Binzel torch, and I need to install a "gas nozzle sensor" to use with a compatible Binzel Torch.
But the question is: Who provide the gas nozzle sensor to buy? Fanuc, Binzel, another brand?
The information I had is that this component is installed between the robot arm and the torch.Sorry about the English, Thank you.
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You´ve been posting many questions about touch sensing ....Touch sensing without wire cutting is helpless ...... Definitely you MUST install a wire cutter on the robot to get a constant wire length for touching
Also, your Welding torch should have wire brakeAccording to the manual you do the "search" with a laser sensor, the interface is part of the touch sensing package, you only need to install it and define the I/O
Basically, instead of moving to touch the part the robots just fires the laser and the distance is read to compute the offsetsI´ve never use it ..... search with wire touch was enough
I used to Weld large pieces also and the strategy was to make all touch sensing then the Welding
Welding after each individual search was not an option because you need to cut the wire prior to searchDoing all the search requires cutting the wire once
Your application is multi-pass???
If you have hundreds of welds the laser option might be cost effective because it would reduce the cycle time
But you probably need simulation to validate the position of the laser.What do you mean by "small Weld beads" Which size is your shortest bead??
I do have a wire cutter, but as you said, I can't use it after every weld.
There is no multi-pass.
It have hundreds of beads with 50mm to 150mm.
Until now, I think 10 searches and 10 weld it is the right number. So I can avoid distortions and I need to clean the torch after 10 welds anyway... -
Sure, why not? That is actually what I would recommend, as the workpiece might deform slightly while being welded, making the initial search results useless...
use as many JOINT motions with high speed and CNT value, optimize trajectories, manage joint limits and take them under consideration while moving between seams, adjust welding parameters to increase welding speed.
Wire cutter + a push-pull torch to avoid the wire being pulled back /pushed out while the robot moves
I'VE HEARD ABOUT THIS PNEUMATIC PUSH-PULL SYSTEM, THANK YOU FOR REMEMBER ME
Never heard of anything like that, would be problematic. Better to use a cleaning station near the workpiece and the robot
Depends on the power source and interface used.
IT IS A KEMPPI ARC PULSE
Not really sure what you mean here.
I AM THINKING IN ALL POSSIBILITIES TO CONTROL WIRE LENGHT WITHOUT THE WIRE CUTTER, BECAUSE WITH MORE THAN 300 BEAMS, THE MOVEMENT TIME EXPENDED TO CUT IT WOULD BE IMPRACTICABLE. HOW COULD I "ZERO" THE WIRE LENGHT SO I CAN CONTROL THE LENGHT.Generally, to avoid problems with wire length, you can use a sensor installed on the torch, or just use the gas nozzle for touch sensing (a cable to supply touch-sensing voltage from the power source is required in this case).
WHAT KIND OF SENSOR?
I TALKED WITH THE KEMPPI SUPPLIER, HE SAID HE CAN HELP ME TO TRY USE THE GAS NOZZLE FOR TOUCH SENSING, BUT IT'S NOT
GUARANTEEDI've done some interfaces between Touch-Sensing and analog laser distance sensors - all you need is some KAREL code. But to make it simple, you could just use a 2-state switch - either a mechanical limit switch (however, I'm not sure if this will provide enough accuracy and repeatability) or optical (maybe a programmable laser sensor?).
I AM REALLY INTERESTED IN THIS POSSIBILITIES: ANALOG LASER AND 2-STATE SWITCH. THERE IS SOME MATERIAL TO HELP ME? I'M JUST AFRAID THIS WILL COST AS MANY AS A LASER ARM SENSOR.
THANK YOU VERY MUCH!
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Hi!
I work with an ArcMate and big sized work pieces. There is hundreds of weld beads and high tolerance assembly, so I need to expend a lot of time in sense touch and movements. I tried to omit some searches, but just don´t work and will not.
Long story short, there is some way I can change the programming lines from "SEARCH SEARCH SEARCH WELD WELD WELD" to "SEARCH WELD SEARCH WELD SEARCH WELD"? How can I deacrease significantly the movement time? How can I control the wire lenght before and after welding? Can I install a wire cutter in the robot arm? Can I control the burnback finely? Can I use the work piece to "burn out" the wire so I can control the wire lenght during movements?
(Laser and Vision options are not perfect because of high tolerance assembly and high cost, TAST don´t work because there is a lot of small weld beads)
Any help is welcome!
Thank you! -
It's a arcmate, a welding robot. Dry run is a demonstration run.
I can turn on and off inside a menu (I think is MENU + 2) or, like I said, using a shortcut. -
Hi,
I have a R-30iB robot controller with a "dry run shortcut" in the (wire +) and (wire -) buttons. But I want this in another pendant. I don't figure out how can I do that.
Thank you!
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As he said, in this case, I only think you should change the P5 to CNT, and use less linear moves, if possible.
Long story short, greater the number of CNT points (instead fine), greater the numbers that follow the CNT points, greater the number of joint moves, AS POSSIBLE (avoiding colisions), more fluid is the movement.
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The source and destination position controls from where to where one refferece point is going, it´s like "where the mirror is", or you can understand as it´s mirroring and shifiting at the same time. When I do, I first mirror the program with whatever refference point, and then make a program shift using two fixed points that are equivalent in both layouts.
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Hi,
This just happened!
How can I have the "JGFRM" jog coordinate shortcut back?Thank you!
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The DO option is the better for you.
Less "newbie" but will worth. -
I didn't find the information in the manuals I have available.I just started, no one else here knows anything about the robot, and I was hoping that someone could point me in the right direction. If you're going to take the time to type anything, why not something helpful?
PR[i,j] -> i is the register number and j the coordenate.
Example: PR[8,2] -> is the y coordenate of PR[8]
j is given from 1 to 6The IF statement you can use:
"PR[100]=Lpos (the actual position of the robot)
IF PR[100]=PR[8], THEN....insert here your command
ENDIF"
But this will work only if is the exactly same position, I don't know why you want that, but I think you should give some interval.
Something like "PR[100,2]-PR[8,2]<2"....Regards.
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Olá,
Em português creio que não vá conseguir muita informação por aqui.
Me manda uma PM, se possível com um contato, me explicando certinho o que deseja, pra que eu possa ver se consigo lhe ajudar.Att.
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Something should be sending the FWD signal continuously. Like a periferic "Start button", etc.
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Menu -> Utilities -> F1 (type) -> Mirror image
Select the original program, the range (in your case, whole program), new program name... Then go to the next page and select source and destination position (I recommend using program points references) and execute!
Be careful with the different robot UFRAMEs. Sometimes there is no necessities to mirror the program, just a program shift adjust.
I can't be more helpful without seeing your robots and understanding what you really want. -
Or
"J P[1] 100% FINE ;
Search Start [3] PR[10] ;
J P[2] 100% FINE Search[X] ;
PR[101]=LPOS ;
J P[3] 100% FINE ;
J P[4] 100% FINE Search[Y] ;
PR[102]=LPOS ;
J P[5] 100% FINE ;
J P[6] 100% FINE Search[Z] ;
PR[103]=LPOS ;
Search End ;PR[GP1:100,1]=PR[GP1:101,1]
PR[GP1:100,2]=PR[GP1:102,2]
PR[GP1:100,3]=PR[GP1:103,3]"And then add some calculus to reach the point I want..