You can keep increasing that value. but normally something else is causing your issue. I have never gone above 20. Reference $sgtdset.$cntct_tpdst or look for TDSumlog.dg in your MD backup files or from the error diagnostic files in robot homepage. Look at Tipcntc_dist. This is the distance of the servogun tips when the system thinks contact was made with the dresser.
while in tdsumlog look at free_torque. If that is varied more than a multiple of 2.5 adjust $Sgtdset.$cntct_fctor. To a more appropriate multiple do not go crazy on this var though.
Posts by JimFc
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Set the brake group to 0 for the damaged group at controlled start.
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I assume your in the setup screens at controlled start and the top of page says servo gun axis.
what model is the robot?Have you tried deleting the servogun/ext axis. And restarting the controller then trying to install it again?
And/or try putting the brake to 1. wouldn’t leave it this way for long but it might help you diagnose what is wrong.
it sounds like you have a new robot so you could contact FANUC’s service @ 1-888-FANUC-US. -
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So my question is, I hope I explain myself well enough: does the Starting Distance require me to modify the position that many mm away from my weld position ?
to answer this question no, you should not modify your weld positions based on your start/end distance schedule.
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Hopefully your gun tool frame and gun setup are correct. Some servo guns use the robots motion as a equalizer and if the tool frame and this are backwards you will get weird motions during pressurization. Easy to figure out by just doing a no weld spot in the air and making sure the coordination gun/robot motion make since.
Start distance is an imagery point above/below the taught point. In the old days this was called the approach point. Going into (data), (distance) , will bring up the distance table also note there is a details button in this schedule that allows you to fine tune the points within the data table. Example: taught point, as explained in previous posts. distance table 2: is robot tip 20, gun 10. Then the stationary tip will try and be 20 mm from the piece and the moving tip will be 10mm. Of coarse if you have high cnt values this will cause motion blending. For now use fine term type to better understand the motion. Then bump up cnt values to improve cycle time.
There is one last thing. If you are using tip wear and the spot command is used as a stand-alone/separate line item. aka is not a attached /includes positional data. Then the spot weld will not apply the tip wear offset.
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This sounds like your gun was in no weld mode. I can’t remember what can cause this to happen. I know you can manually turn weld sim on under the utilities. And a cycle power will turn weld sim off.
For the weld io the form below maybe of use.
https://www.robot-forum.com/robotforum/fan…-init-to-medar/ -
Assuming the motor is the right motor type for J1. Some things to try. You need to figure out if it’s the motor, brake, or pulsecoder. Try removing the motor power and then energize the brake so it releases. Try and see if you can turn the motor shaft. the shaft might be easier to rotate if still attached to robot. Just grab the arm and rotate. But removing the motor is safer. I am not familiar with the arc mate but be careful. Doing this will release the brake and any external force should move the robot. Or on axes that are energized they will fight your motion and may jump. If I was doing this I would remove the brake/motor power on j2j3j4j5j6 just to make sure robot can’t move those axes. Or use a brake release box/device if you have one. If you can move the motor like this then. It might be the pulsecoder or motor power cable. Only way to diagnose that really is to replace it. Either swap pulsecoders or swap motors. Swapping with different motor/pulse makes sure cables don’t have an issue.
Hope this helps. -
What version of software are you using? (Menu) utilities.
Start distance is an approach distance for the movable and fixed tip. Located under (data) (f1) distance. Which the gun passes through before pressurizing starts. Think of it as an invisible program point above the weld/spot. When you get to welding the opposite of start distance is end distance; will be called ED or BU and is the back up distance after the weld completes. basically how wide the gun opens after the weld.
our press_motn has (SD=...,p=...,t**). I think It’s possible your distance table is under data, f1, pressure, detail, (weld stroke) detail. -
Press motion (1,1) =( start distance schedule #1, pressure schedule #1).
To find the pressure go to [data] [f1] select pressure this is the pressure table. (You May need to press [prev] to see all pressure schedules)
Depending on software version this may also have the thickness in the pressure table.
Depending on software options you may have a tip dress command. If you have that, that is the best way to dress caps. To check go to menu (6 setup) [f1] and look for tip dress. If you have that option use it. To use it simple add the tip dress command to the end of the position. Same way you would for adding a spot weld point. [next] [inst] spot welding, tipdress. -
Check for electrical noise.
Make sure the robot is grounded to the controller. Make sure the robot cables are grounded in the controller using the ground clamp. Make sure the ground bar has a good ground. Check the ground strap from the back of the robot and behind the Harting connectors. -
Do you have access to the manuals?
If not and Assuming you have DCS
Easiest way:
menu,
0, 6 system
F1 type scroll to dcs. Select. this is the main dcs screen.
Move to number 5: cart. Position check. Select f3 detail.
Select the number you want to edit then f3 detail again.
Comment what it is. then courser down to enable f4 choice, enable.Change target model 2 to 1.
Set your positions aka the dcs walls. I would suggest changing stop type to controlled stop just to limit e stops on the robot.
Once complete hit next and and select view: shows you the dcs zone.
Now previous; previous. Back to main dcs screen.
Go to user model. detail
Select user model 1 . detail.Here you have to decide what object works best for your EOAT. box, sphere, point. Setup their dimensions.
Once complete hit next and view to view again.
Previous back to the first dcs page and select apply. IT WILL ASK FOR A PASSWORD. Normally all 1’s will work But speak with your safety department first. It will say applying. then after you select OK and restart robot.
make sure to test in all directions.Hope this helps.
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This means the tip dresser is sensing an earlier torque increase than expected.
Assuming you checked the path, position, and gun zero position. Confirm you have the right thickness value set.
If everything else is good then adjust $sgtdset(x) $cnt_thrsh to a higher number. This is the distance above thickness value when contact is sensed before sending alarm.