KUKA電伺服機器人焊點位置補償

KUKA電伺服機器人焊點位置補償示意圖:

GLOBALDEF Initialize (TEACH_POS : IN,cont:IN )初始化

初始化示教位置

DECLE6Pos TEACH_POS

DECL SG_Cont_T cont

CONTINUE

$ADVANCE = 3

SG_ExtaxActive=ServoGun[SG_ActiveGunNumber].ExtAxNumber

SG_ActiveWeldTimer =ServoGun[SG_ActiveGunNumber].WeldTimerIndex

bckupSetSG_AxVal()

–獲得當前點的外部軸速度加速度—逼近$APO.CPTP和提前運行$RED_VEL

SGE_InitErrorHandler()

IF(ServoGun[SG_ActiveGunNumber].ExtAxNumber>0)then

SGA_SensorReset()

ENDIF

; ------初始化點-----------

P_Part=SGL_CALC_POS(TEACH_POS, ServoGun[SG_ActiveGunNumber].TipCorrection, 0)----獲得焊接點位置

P_Approx=P_Part 位置轉移/傳輸

P_Forcelim=P_Part 位置轉移/傳輸

P_Pressure=P_Part

P_Weld=P_Part焊接位置

P_Ret=P_Part

SG_SpotHelper=P_Part

SG_PartPos = SGL_GET_AXIS_VALUE(TEACH_POS); 力模式下可能的極板接觸位置

END;

GLOBALDEFFCTE6POS SGL_CALC_POS(CURRENT_POS :IN, TipCorrection:IN, TouchDiff:IN)

TouchDiff=0 執(zhí)行焊接時

CURRENT_POS = TEACH_POS

TipCorrection = ServoGun[SG_ActiveGunNumber].TipCorrection=true電極校正

SGL_CALC_START_POS

REAL TouchDiff, wearflex, wearfix, TouchOffset

E6POS CURRENT_POS,RETURNED_POS

BOOL TipCorrection

IF(TipCorrection)THEN TipCorrection=true電極校正

wearflex = SG_WearFlex[SG_ActiveGunNumber] +SG_TipSeating_mm[SG_ActiveGunNumber]

wearflex彎曲磨損量由銑削后測量出來, SG_TipSeating_mm[1]電極坐值

wearfix = SG_WearFix[SG_ActiveGunNumber] +(SG_TipSeating_mm[SG_ActiveGunNumber]/2)

wearfix磨損修復由銑削后測量出來

ELSE ---沒有使用校正

wearflex=0.0

wearfix= 0.0

ENDIF

X方向的補償改變坐標 –使用BASE坐標

SG_Helpframe=SGL_CALC_TCP_POS(TouchDiff,wearfix) ---計算位置值

RETURNED_POS=CURRENT_POS:SG_Helpframe-----補償值X方向的坐標

轉移外部軸和S,T坐標值,用來沒有激活外部軸時

RETURNED_POS.E1=CURRENT_POS.E1

RETURNED_POS.E2=CURRENT_POS.E2

RETURNED_POS.E3=CURRENT_POS.E3

RETURNED_POS.E4=CURRENT_POS.E4

RETURNED_POS.E5=CURRENT_POS.E5

RETURNED_POS.E6=CURRENT_POS.E6

RETURNED_POS.S=CURRENT_POS.S

RETURNED_POS.T=CURRENT_POS.T

TouchOffset =(wearflex+wearfix-TouchDiff)* SG_ClosingAxDir

計算偏差值

SG_ClosingAxDir=-1

TouchDiff=0 執(zhí)行焊接時

Wearflex 彎曲磨損

Wearfix 電極磨損

改變補償焊接點的外部軸E1

SWITCH SG_ExtaxActive SG_ExtaxActive=1

Case 1

RETURNED_POS.E1=CURRENT_POS.E1+TouchOffset

Case 2

RETURNED_POS.E2=CURRENT_POS.E2+TouchOffset

Case 3

RETURNED_POS.E3=CURRENT_POS.E3+TouchOffset

Case 4

RETURNED_POS.E4=CURRENT_POS.E4+TouchOffset

Case 5

RETURNED_POS.E5=CURRENT_POS.E5+TouchOffset

Case 6

RETURNED_POS.E6=CURRENT_POS.E6+TouchOffset

ENDSWITCH

RETURN (RETURNED_POS) 反饋返回坐標值

ENDFCT;

GLOBALDEFFCTE6POS SGL_CALC_TCP_POS(touchDiff:IN, wearFix:IN)

計算補償值touchDiff=0, wearFix電極磨損

SGL_CALC_TCP_START_POS

REAL touchDiff, wearFix

E6POS RETURN_HELPFRAME

DECL SG_DIRECTIONTYP_T realDirectio

RETURN_HELPFRAME=$NULLFRAME坐標清0

realDirection = ServoGun[SG_ActiveGunNumber].GunDirection

GunDirection #PX --槍移動方向

IF((FDAT_ACT.IPO_FRAME == #TCP) AND SG_RevFixedGunDirection)THEN

-------------- FDAT_ACT.IPO_FRAME=#BASE 所以此IF語句暫時不執(zhí)行-------

realDirection =SG_RevToolDirection(ServoGun[SG_ActiveGunNumber].GunDirection)

ENDIF

--------------end---------------------

SWITCH realDirection realDirection=#PX

CASE #NX

RETURN_HELPFRAME.X=-wearFix+touchDiff

CASE #NY

RETURN_HELPFRAME.Y=-wearFix+touchDiff

CASE #NZ

RETURN_HELPFRAME.Z=-wearFix+touchDiff

CASE #PX----------本次機器人執(zhí)行的補償數(shù)據(jù)touchDiff=0

RETURN_HELPFRAME.X=wearFix-touchDiff 直接用磨損值來補償X方向

CASE #PY

RETURN_HELPFRAME.Y=wearFix-touchDiff

CASE #PZ

RETURN_HELPFRAME.Z=wearFix-touchDiff

ENDSWITCH

RETURN (RETURN_HELPFRAME)

ENDFCT