This page is a guide to help users understand the requirements of setting up a Yaskawa Motoman robotic welding system for use with Verbotics Weld. Verbotics also offer consulting and training services to assist with the calibration and setup of a welding system - please contact us for pricing.

TCP Calibration

The real world TCP should be calibrated using the FANUC tool calibration. After calibration, it is then suggested that the rotational values are overwritten with theoretical values (that can be supplied by Verbotics) as rotational values are difficult to calibrate using this method.

Care should be taken to ensure that the axes directions follow the expected directions for Verbotics Weld:

  • Z - Pointing in the wire direction.
  • X - Pointing up from the robot when the robot is at position [0, 0, 0, 0, 0, 0].
  • Y - Orthogonal to X and Z with a right hand rule.

The TCP calibration should use the expected stickout specified in the workcell model file supplied by Verbotics for the cell and the wirecut routine should be written to cut the wire to this length prior to touch sensing.

Code Output

Verbotics Weld creates FANUC .ls files that can be loaded and executed by your robot. Your robot controller will need an option to compile these into .tp files, or you can do this using FANUC ROBOGUIDE.