Posts by Haseeb

I'm using a manual spoolgun mounted on the robot to do small job shop welding and its working fine. I was just wondering if i wanted to add a weave, what motion commands I could give after the linear go to command. i was hoping I could work with the LPOS shift with a desired frequency. I understand that This might require dynamic point edits. Just trying to understand if it can be done at all. To simplify, I'm trying to do it on a flat weld parallel to the y axis, so that I would only have to manipulate the x element.

There are a few different ways you could program your robot offline. For your application one solution that comes to mind is RoboDK. The basic version of this is free and also has tools to insert your python script.

Yes, in joint representation too.
But I solved the issue. It was in a different frame when I programmed that one point. My bad.

Hey Guys, A Fanuc 710 I'm working with is giving out a weird motn-23 motion in singularity error even when my program is asking it to move to a point in joint command. I don't have a problem jogging it in world and saving the point. J5 would not even be aligned with J4 in the course of the motion. I have tried remastering it in zero and calibrating it. No Luck.

AFAIK, Azimuth is set for the whole torch and all the schedules use the same geometry. I'm not aware of Fanuc having setting for azimuth angles for individual schedules. I would check if the weave path mode is in Tool&Path as this will make sure the weave angle is relative to the torch and path. I apologise if you have already done that and not the answer you were looking for.

Hey Guys,

I'm running into an issue with a welding robot that uses miller auto axcess 675 power source. This is talking to the robot through a Devicenet. After an image restore, it's giving me a missing IO error(ARC-040), even when the devicenet cable has good contact. I ran into this issue a while ago and on the integrator's advice, I performed a restore with a backup from the past and that got cleared, but this time, no luck.

I was hoping you guys could point me towards a solution that's more focused and reasonable. I'm also getting a slave conn: idle warning which i believe is stopping my weld schedules from working.

The idle slave conn code is DNET-125
I also have a bad IO assignment error PRIO-063

Ideas?

Essentially you write karel in any text editor. I would recommend notepad++. You also need a compiler to convert into .pc files that the controller can use. Roboguide, a fanuc owned software is used to write offline programming and can help you write and implement karel code most directly. you can also do this with winolpc.

If you are new to writing in Karel, I strongly recommend going through a post by SirCumference by the title "How to write Karel Programs". rf103 gave some good notes

I'm assuming your door open signal has been checked adn it actually does open.

If you have a sensor for detecting when the door is actually open, it woud be the best way of doing it. The program then would be

DO[2] = ON

Wait DI[5]= ON (DI[5] being whatever port your sensor is connected to. The wait is conditional that you will fing in INST> WAIT> WAIT ...=...)

P[1] 100%CNTO (Motion command)

If you don't have a sensor, you should really invest in one, while waiting for that ypu could try

DO[2]=ON
WAIT 2secs (2 secs as an example, use whatever time the door needs to actually get open)
P[1] 100% CNTO

But this second method is just a work around, if the door gets stuck, you're looking at a crash.

Hope I have not misunderstood your question

Go into Menu-> setup -> Weave. Here you should have Elevation and Azimuth angles to setup. Elevation is the angle with the perpendicular of the tool path that the weave will be in. You can change this to get the weave in the horizontal plane to whatever your tool path is. This should be 90. experiment with this and see what you get. Azimuth is the angle the weave will make with the horizontal perpendicular to the weld direction. with this you can weave perpendicular or in the direction of the weave. Experiemnt with these values in a dry run till you're happy. Make sure the frame type in the SETUP weave menu is tool&path. There a few more features here that you can play with, like the radius, centre rise and blend options.

Also, kind of a dumb question, but do you guys think if the weld path deviation is about 5mm, using a larger weave, say 6mm will get the job done without messing it up?

dha The grooves are kinda small, I dont believe big enough for groove touch sensing unfortunately. We don't have TAST installed, but we do a lot of Aluminum and non ferrous metals don't hold a stable enough current to employ TAST, atleast from what I've read. If you disagree, I'd love to know. For now, I'm Using simple touch sensing in 2D shift on two corners and storing the shifts in position registers. Then using PR offsets on all the welds I'm doing. It's working out better than nothing but definitely not as good as TAST would do.

Copacetic. Sure, drop me a private message, I have materials that will definitely help you. I was able to go from knowing nothing to having it run in a day, it's pretty simple.

I've programmed two welding robots that don't have a lot of workspace overlap and I've limited the teach points to be within safe distances. I'll also employ DCS soon to make sure we don't run into interference issues. I'm a little confused as to how i can put these programs in auto cycle. My main questions can be broken down as below

1. Running the programs on each of the two robot groups ( with different controllers) simultaneously.

2. Having the AUTO mode operate while running both the robots without having to hold the deadman's switch on the TP. Essentially I just want to hang the teach pendant and have both the robots runing their respective programs.

Any help would be appreciated. I understand these are rookie questions, but I'm just starting out.

Thank you

Hey, I'm just starting out as a robot programmer in a company that does large weldments. I just discovered the touch sensing functionality and i think it will be great to use as parts are never in the exact same orientation. I was hoping some of you might have a training manual that i can use to learn this functionality. Also, most welds are flat gaps between parallel plates or sheet metal on larger beams to be welded to. I'm not sure how i could use touch here and would love to hear your ideas. Thanks in advance.