I have recently been studying the welding section, and I have a strange question. In the welding alignment process, there are multiple methods, and I always feel a bit uneasy about the Nozzle touch.
Normally, he uses the neck of the welding gun to touch off, but more often I see that he can’t even make contact with the surface of the object, like this:
I have tried many times, and it feels like this behavior is because VC’s tool-offset procedure only deals with the coordinate system and doesn’t care about when or how to touch. This confuses me, because I’ve previously used VC for projects that require collision detection, and I know VC handles collisions at least well for triangular surfaces. But why does this feature that requires collision contact use a coordinate system?
Of course, since it uses a coordinate system, there must be a reason. But this also leads to a problem: the nozzle neck is a circle. How can I ensure that, with different poses, I can properly calibrate tool touch (the nozzle neck touching the material surface) without crashing into the machine?
Hello BAD,
this happens when you set the TCP to the tool and then change the geometry afterwards. It might be because someone modified the wire length and transferred the geometry, so the TCP stayed the same while the stickout became longer than before.
To fix this, try resetting the TCP → just set it back to the wire tip again.
Hello, Mats2!
This is just a casually assembled demo environment I pulled together, using only VC’s built-in models, including the robot, which is a KUKA KR210 R2700, and the welding torch is the default welding torch from the robot tooling.
So, I need a manual with these parameters in order to use VC’s Search module, or rather, is that the only way for VC’s Search module to be precise? What about non-standard welding torches?
Hello BAD,
It seems there is an issue with this tool. I tested it and got the same result when using the TCP from the tool. However, when I use the first tool from the robot properties and set the TCP to the tool, it works right away.
I will report this so it should work correctly in the future.
Then if I use my own model later, what should I pay attention to? From what you said, it seems that the feature will have issues if the modeling hierarchy is a bit off, but I don’t see this described in the manual.
