Gas Nozzles

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.

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.

By a system-specific control algorithm, tolerances of the work piece (determined during the first search runs) are taken into account by immediately shifting the next search path. The sensor is therefore perfectly suitedalso for small work piece components which have extreme tolerances.

Due to the particular structure of the software, only the number of search runs definitely required for the exact definition of the position, is to be programmed. This means, if a part can be shifted in one direction only, one single search run on one reference point will be sufficient. To shift a program in parallel to the space co-ordinates, 3 search runs will be necessary. The program can be shifted, turned and tilted in accordance with the position deviations of 3 reference points, ascertained by 6 search runs only.