Chapter 1: Calibration and Debugging
Welding Torch Calibration
Step - 1
On the main interface of the teach pendant, select the Tool Coordinate System.
Step - 2
1. Select Tool: tool1
2.Select Method: TCP & Z, X Direction
3. Click Calibrate
Step - 3
1. Adjust the welding torch to the posture of (A: 180, B: 0, C: 0), aligning it vertically with the calibration workpiece so that the welding wire just touches the tip of the workpiece.
2. Use the MLin command in the program to record this point for use in the subsequent calibration of points 4 to 6.
Step - 4
Calibrate the first point. Press the 6+ (RX) key on the teach pendant to rotate the robot counterclockwise around the X-axis. Align the welding wire with the tip of the calibration workpiece, then click Teach.
Step - 5
Calibrate the second point. Press the 6− (RX) key on the teach pendant to rotate the robot clockwise around the X-axis. Align the welding wire with the tip of the calibration workpiece, then click Teach.
Step - 6
Calibrate the third point. Press the 5+ (RY) key on the teach pendant to rotate the robot approximately 45 degrees counterclockwise around the Y-axis. Align the welding wire with the tip of the calibration workpiece, then click Teach.
Step - 7
Calibrate the fourth point. Run the previously recorded program so that the TCP aligns vertically with the calibration workpiece, and the welding wire just touches the tip of the workpiece. Then click Teach.
Step - 8
Calibrate the fifth point. Run the program to return to the vertical posture. From the fourth point position, press the 3+ key to move in the positive Z-axis direction by more than 200 mm, then click Teach.
Step - 9
Calibrate the sixth point. Run the program to return to the vertical posture. From the fourth point position, press the 1− key to move in the negative X-axis direction by more than 200 mm, then click Teach.
Step - 10
After completing the calibration, click Calculate and then Save.
Welding Torch Calibration Verification Method
Step - 1
After calibration is complete, activate Tool 1, adjust the welding torch to the posture of (A: 180, B: 0, C: 0), and align it vertically with the calibration workpiece so that the welding wire just touches the tip of the workpiece.
Step - 2
1. Press the 5+ key on the teach pendant to rotate the welding torch 45 degrees around the Y-axis. You can view the real-time torch angle in Monitor > Position. Observe whether there is any deviation during rotation.
2. If there is deviation in the Z-axis direction, adjust the X value; if there is deviation in the X-axis direction, adjust the Z value. The values can be checked in Monitor > Position.
(Note: When modifying the values, return the welding torch to the original position. The torch tip must align with the needle tip. Adjust until the torch tip stays aligned with the needle tip while rotating around the Y-axis. Ensure the deviation is within 1 mm. You may repeat the correction multiple times.)
Step - 3
1. Adjust the welding torch to the posture of (A: 180, B: -45, C: 0) — the welding posture.
2. Press the 4+ key on the teach pendant and observe whether there is any deviation during rotation around the Z-axis.
If there is deviation in the Y-axis direction, adjust the Y value in Tool 1.
Continue adjusting until the welding torch rotates 360 degrees around the Z-axis and the torch tip remains aligned with the tip of the workpiece within a 1 mm margin of error. Once this is achieved, the correction is complete.
