Tactile sensor - igm gas nozzle searching
This tactile sensor is used to determine the workpiece position or its components and individual parts by gaging the surface of the workpiece. In each case, the successional part of the program is shifted according to determined deviations.
igm - robots with sensor shift
Sensor shifting may be applied for correction of an arbitrary amount of individual points, entire sections of a welding program or entire programs. Combination with arc seam sensing is feasible. The control system supports shifting, rotating, and tilting of a program, depending on position change.
Function principle of the gas nozzle sensor
A control voltage is applied on to the gas nozzle and then a various number of searching runs are performed. As soon as the gas nozzle comes into contact with the work piece, it is discharged and the robot stops immediately. This discharge is recorded on-line by the respective sensor board in the control cabinet and subsequently the robot moves to the next searching run.
After having completed the search runs, the robot controller is shifting the respective program part accordingly.
Sensor program shifts may also be nested, that means, additional search sequences and blocks to be shifted may be programmed within an other block to be shifted.
The sensor shifting feature can be used to correct any number of single points, complete sections of the welding program, or complete programs.
