TorchMate 3
TorchMate 3
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March 2014
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TorchMate 3
TorchMate 3
Overview
TorchMate 3
The TorchMate option provides a cost effective, easy-to-use solution
for automatic adjustment of the Tool Center Point (TCP) on single
motion group systems, or for systems that incorporate the MultiARM
feature (two or more robots controlled by a single controller).
TorchMate automatically compensates for bent torch barrels and worn
contact tips to reduce weld defects and increase system productivity.
The TorchMate Block
Robot Arm to TorchMate Block Alignment.
TorchMate 3
The TorchMate Block is mounted to a rigid stationary workcell surface.
TorchMate 3 POINTER
TorchMate 3 PROBING PLATE
TorchMate 3 BASE PLATE
TorchMate 3 Block Asm.
TorchMate 3
TorchMate execution is very fast, resulting in an automatically
adjusted Tool Center Point.
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TorchMate 3
It is of Paramount importance to maintain an accurate TCP.
The TCP should always be checked:
At the beginning of each shift
Before any program is taught
After torch maintenance has been performed
After every Robot CRASH
Check the TCP often but, use TorchMate sparingly.
TorchMate 3
Executing TorchMate more than twice a day, is like getting a front
end alignment on your vehicle every day:
It does more harm than good.
TorchMate 3
It is like putting a Band-Aid on a broken arm: a bigger issue than
TorchMate can remedy exists!!!
TorchMate 3
TorchMate 3
Setup
TorchMate 3
Power up the robot/controller and this screen appears:
TorchMate 3
Press MENU, 6-SETUP, move the cursor over TorchMate, and press ENTER.
TorchMate 3
This screen appears. It is the first page of the TorchMate Setup screen.
TorchMate 3
This is the second page of the TorchMate Setup screen.
TorchMate 3
This is the third page of the TorchMate Setup screen.
TorchMate 3
Now, we have to move the robot to the Tool Frame Orient Origin Point:
Press MENU, 6-SETUP, move the cursor over 7-Frames, and press ENTER.
TorchMate 3
The Tool Frame window should be open, as shown. Move the cursor over the Tool
Frame in use, and press F2-DETAIL.
TorchMate 3
This screen should appear. Now, to get the robot to the Tool Frame Orient Origin
Point, press F2-METHOD.
TorchMate 3
Choose the Six Point (XZ) Method.
TorchMate 3
Move the cursor over Orient Origin Point, as shown, and press SHIFT +
F4-MOVE_TO simultaneously.
Be very careful not to crash the robot or torch as it moves its TCP over the pointer.
TorchMate 3
After completing the last step, TCP should be positioned over the pointer, as shown.
TorchMate 3
Now we have to set this robot position as the TorchMate Reference Position.
Press MENU, 6-SETUP, and choose TorchMate, and press ENTER.
TorchMate 3
Cursor down until the cursor is on Reference position: , as shown.
TorchMate 3
Press SHIFT + F4-RECORD. Notice that the screen indicates that you have
recorded the Reference Position Point.
TorchMate 3
Now, we are ready to master TorchMate. Notice the Mastering status is UNINIT,
or uninitialized.
Make sure your Speed Override is set to 100% and Step & Weld Enable are OFF..
Press SHIFT + F2-MASTER, and the Mastering Sequence will begin.
Step
Weld
TorchMate 3
The robot will move from its current position over the pointer:
TorchMate 3
Over to a position in the opening in the TorchMate Probing Plate.
TorchMate 3
Wire will then be fed out of the contact tip.
TorchMate 3
The robot will move the torch in the -Z direction.
TorchMate 3
The robot will move the torch in the +X direction until the welding wire makes contact
with the TorchMate Probing Block.
TorchMate 3
The robot will move the torch in the -X direction.
TorchMate 3
The robot will move the torch in the +Y direction until the welding wire makes contact
with the TorchMate Probing Block.
TorchMate 3
The robot will move the torch in the -Y direction.
TorchMate 3
The robot will move the torch in the +Z direction.
TorchMate 3
The welding wire will then retract into the contact tip.
TorchMate 3
The robot will move the torch to its position over the pointer:
TorchMate 3
The motion will look like this:
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TorchMate 3
The screen indicates that TorchMate is now mastered in the X/Y plane.
TorchMate is now setup.
X/Y
TorchMate 3
Running
TorchMate 3
TorchMate 3
Running TorchMate is simple, and can be run in T1/T2 or in Automatic Modes.
To run it in T1/T2 Mode, press SELECT, move the cursor over TM_ADJST, and
press ENTER.
TorchMate 3
This teach pendant program will appear containing one line with the instruction:
CALL SET_ATCP.
Make sure your Speed Override is set to 100% and Step & Weld Enable are OFF..
Press SHIFT + FWD, and the TorchMate will run.
Step
Weld
TorchMate 3
Running the TM_ADJST program will look like this:
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TorchMate 3
You can check your results of TorchMate each time TM_ADJST is executed:
Press DATA, F1-TYPE, and choose TorchMate.
TorchMate 3
This screen below will appear.
Each time TM_ADJST is execute, Date, Time, Group, Tool, and X-Y-Z
Adjustments are listed.
TorchMate 3
TorchMate 3
END