TCP UnitSetup Routine

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FabioKawamura
FabioKawamura ✭
in RAPID Programming
Hello guys! I want to ask somebody that uses ABB robotics in BiW process and use beam to correct TCP in welding guns. I want to know why some robots make TCP Unisetup routine faster then others! I know about +/-24° rotation ... /Quickcheck argument ... an so on... what can I do to have only quick routine despite regular ones  
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  • matti
    matti ✭
    Hallo, you may try to use cartesian coordinates only, so no torch angles.
    (BECheckTcp tWeldgun\XYZOnly).
    This is the fastest method I know.
    Nevertheless, when the result is too bad, the routine will perform a full measurement automatically, which takes much longer.
    A bad result may be caused in loose/shaky mounting of the bulls-eye. When using external axes to move to the device, make sure to use fine point for the initial point.
    matti
  • FabioKawamura
    FabioKawamura ✭
    Great! Thanks for your reply! It seems very helpful! I'll check this in our routines. 

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