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Force Control

Friction welding with Tricept and Sinumerik 840D. Complete development and delivery of a system for power control of the robot to hold a friction tool with a predetermined force against the material surface.

With a DDU4 holder from Artis and the 840D's advanced synchronous actions, a real good force sensor loop can be implemented with a little imagination and engineering.

Compensation of the tool orientation regardless of the 5-axis orientation. In friction welding the trick is to hold the tool a few degrees from the normal of the surface to plow the material before the pin.

Through DDU4 analog interface input voltage to an analog input of the 840D control, a calculation of the correction is made every IPO cycle. The movement is a so-called "overlapped" movement on top of the usual tool path.