Multi-Layer Welding Tool Shift Function; Outline; Tool Shift Coordinate System - YASKAWA DX100 Instructions Manual

DX100
2.4

2.4.1 Outline

2.4.2 Tool Shift Coordinate System

2 Basic Operations
2.4

Multi-layer Welding Tool Shift Function

T0005
T0004
2nd path of 2nd layer
Multi-layer Welding Tool Shift Function
For multi-layer welding, teaching the welding path on the 1st layer and
shifting the taught positions to weld on the second and following layers
can largely reduce the time required for teaching.
The coordinates for the multi-layer welding tool shift function are
determined by the positional relation between the robot coordinate and
the tool coordinate.
Multi-layer welding tool shift coordinate X: Z-axis of the tool coordinate
projected on X-Y plane of the robot coordinate system
Multi-layer welding tool shift coordinate Y: Direction to Z-axis of the tool
coordinate
Multi-layer welding tool shift coordinate Z: Direction to Z-axis of the robot
coordinate
2-17
T0002
T0003
1st path of 2nd layer
1st path of 1st layer
HW0485806
156446-1CD
T0000
T0001