å‰è¨€:
自動化分æ€æ©Ÿå™¨äººæŽ§åˆ¶ç¨‹åºé»žç„Šæ©Ÿå™¨äººæ˜¯å¤§çœ¾æ¨™æº–ä¸æœ€å¸¸ä½¿ç”¨çš„基準工è—控制,它涉åŠåˆ°ç„ŠæŽ¥æŽ§åˆ¶,軌跡補償控制,銑削夾緊控制,電極測é‡æŽ§åˆ¶.還有虛擬軸軟件控制,下é¢æˆ‘會一一é“來.
基礎知è˜:
機器人使用氣伺æœç„Šé‰—è¦å®Œæˆçš„工作:焊接,æ›´æ›é›»æ¥µå¸½,銑削,開關水站RIP
點焊任務應在車輛å標系ä¸ç·¨ç¨‹ã€‚
å°äºŽWPS機器人,電極與帶有新E形帽的金屬æ¿ä¹‹é–“çš„è·é›¢å¿…é ˆç‚º3mmï¼Œå…¥å°„è§’å¿…é ˆç‚º90度。SZ在關閉時ä¸å¾—滑動,在焊接時ä¸å¾—引起分æµã€‚
焊接點的åæ¨™å¿…é ˆé€šéŽç¤ºæ•™åŠŸèƒ½ç¢ºå®šã€‚
é™å£“時ä¸èƒ½ä½¿ç”¨ç¤ºæ•™åŠŸèƒ½ã€‚é–‹å£å°ºå¯¸çš„計算方法如下:標準開å£å°ºå¯¸SZ+æ¿æ厚度+凸臺高度。
å°äºŽå¸¶æœ‰è£œå„Ÿç³»çµ±(tÇ’ng)çš„ç„Šæ§ï¼Œè£œå„Ÿå€¼ä»¥äºŒé€²åˆ¶å½¢å¼å‚³è¼¸?shù)胶笜?ï¼Œå¹¶ä¸”å¿…é ˆåœ¨æ¯å€‹ç„ŠæŽ¥é»žé€²è¡Œç·¨ç¨‹ã€‚夾緊補償?shù)闹祽@樣確定,使固定電極平緩地放在組件上。夾具補償?shù)é—¹ç‰î” Q于夾具的類型和焊æ§åœ¨ç„ŠæŽ¥é»žçš„ä½ç½®ã€‚
BIN2~焊鉗EZ1/SP1平衡缸控制:
硬件è¨å‚™çš„組態(tà i):
VASS06çš„FESTO伺æœç„Šé‰—的網(wÇŽng)絡é…ç½®:
輸入信號
E705GunReady準備就緒E706Energysavingison節(jié)能開E707Releaseregulatorisoff釋放調(dià o)整關閉E708withforce帶壓力E709HandshakebitTCPOKæ¡æ‰‹TCPä½OKE710E711Teachpositionvalid有效ä½ç½®å€¼E712Controlmanual手動控制E713Controlautomatic自動控制E714Gunisreferenced焊鉗在åƒè€ƒé»žE715Positioningactiveä½ç½®æ¿€æ´»E716Actualpositonvalid實際的ä½ç½®å€¼E717Gunopened焊鉗打開E718Forcereached夾緊壓力到é”E719Equalizerisback平衡氣缸返回E720E721ActualvalueE-Forcev1*100N實際焊接壓力E722ActualvalueE-Forcev2*100NE723ActualvalueE-Forcev4*100NE724ActualvalueE-Forcev8*100NE725ActualvalueE-Forcev16*100NE726ActualvalueE-Forcev32*100NE727ActualvalueE-Forcev64*100NE728ActualvalueE-Forcev128*100NE729OffsetfixedE-Arm1*0.1mmç„Šæ§ç£¨æå移é‡E730OffsetfixedE-Arm2*0.1mmE731OffsetfixedE-Arm4*0.1mmE732OffsetfixedE-Arm8*0.1mmE733OffsetfixedE-Arm16*0.1mmE734OffsetfixedE-Arm32*0.1mmE735OffsetfixedE-Arm64*0.1mmE736OffsetfixedE-Arm128*0.1mmE737Actualpositionv1*0.1mm實際ä½ç½®å€¼E738Actualpositionv2*0.1mmE739Actualpositionv4*0.1mmE740Actualpositionv8*0.1mmE741Actualpositionv16*0.1mmE742Actualpositionv32*0.1mmE743Actualpositionv64*0.1mmE744Actualpositionv128*0.1mmE745Actualpositionv256*0.1mmE746Actualpositionv512*0.1mmE747Actualpositionv1024*0.1mmE748Actualpositionv2048*0.1mmE749Actualpositionv4096*0.1mmE750Actualpositionv8192*0.1mmE751Actualpositionv16384*0.1mmE752ActualpositionsignE753LifebitguncontrollerE754E755CapchangeOKæ›´æ›é›»æ¥µå¸½å®ŒæˆE756E757Endofmeasuring測é‡çµæŸE758E759MillingOK修磨OKE760E761Invalidguncode無效的焊鉗代碼EE765E766Devicecodev1è¨å‚™ç¢¼V1E767Devicecodev2è¨å‚™ç¢¼V2E768Devicecodev4è¨å‚™ç¢¼V4E769Prewarninggunç„Šæ§é è¦E770WarminglubricationrequiredåŠ æ²¹è¦æ±‚è¦å‘ŠE771Reachingforcetaketoolong壓力到é”超時E772Wrongprogram/forcefromrobi機器錯誤的程åº/力值E773Targetpositioninvalid目標ä½ç½®ç„¡æ•ˆE774component/platethicknessfailæ¿æ厚度故障E775Gunmovingtightly焊鉗移動固定E776MillingnoOK修磨未完æˆE777Failurecapabrasion修磨電極帽故障E778Errorcaps/geometry電極帽故障E779Positioningdeviationä½ç½®åå·®E780Errorequalizer平衡缸故障E781Errorcontrol/regulator控制/調(dià o)æ•´æ•…éšœE782Errortemperaturetransformer變壓器溫度故障E783Errorpressurelow壓力éŽä½ŽE784Commonerror普通故障輸出信號
A705Errorreset故障復ä½A706Energysavingon節(jié)能模å¼æ‰“é–‹A707Releaseregulatoroff釋放調(dià o)整關閉A708Withoutforceä¸å¸¶å£“力A709WithTCPcorrection帶TCPä¿®æ£A710Startlearningteachposition開始示教ä½ç½®A711Takeoverteachposition接å—示教ä½ç½®A712Robotmanual機器人手動A713Robotautomatic機器人自動A714Referenceå°‹åƒA715Releasepositioning定ä½ä½¿èƒ½A716Setpositionvalid定ä½è¨å®šæœ‰æ•ˆA717Openguné–‹æ§A718Closeguné—œæ§A719Gunjogopen點動開æ§A720Gunjogclose點動關æ§A721SetvalueE-Forcev1*100Nè¨ç½®ç„ŠæŽ¥å£“力值A722SetvalueE-Forcev2*100NA723SetvalueE-Forcev4*100NA724SetvalueE-Forcev8*100NA725SetvalueE-Forcev16*100NA726SetvalueE-Forcev32*100NA727SetvalueE-Forcev64*100NA728SetvalueE-Forcev128*100NA729Equalizerpressurev1平衡缸壓力è¨å®šA730Equalizerpressurev2A731Equalizerpressurev4A732Equalizerpressurev8A733Equalizerpressurev16A734Equalizerpressurev32A735Equalizerpressurev64A736Equalizerpressurev128A737Setpositionv1*0.1mmä½ç½®è¨å®šA738Setpositionv2*0.1mmA739Setpositionv4*0.1mmA740Setpositionv8*0.1mmA741Setpositionv16*0.1mmA742Setpositionv32*0.1mmA743Setpositionv64*0.1mmA744Setpositionv128*0.1mmA745Setpositionv256*0.1mmA746Setpositionv512*0.1mmA747Setpositionv1024*0.1mmA748Setpositionv2048*0.1mmA749Setpositionv4096*0.1mmA750Setpositionv8192*0.1mmA751Setpositionv16384*0.1mmA752Setpositionsignä½ç½®è¨å®šç¬¦è™ŸA753LifebitRobot機器人通訊有效A754CompensationRobot機器人補償A755Capchangedæ›´æ›é›»æ¥µå¸½milling打磨å‰æ¸¬é‡A757Meas.aftermilling打磨åŽæ¸¬é‡A758Startmillingdone首次修磨åŽå®ŒæˆA759NormalmillingdoneéŽç¨‹ä¿®ç£¨åŽå®ŒæˆA760Testwithoutcomponet無工件測試A761Guncode1ç„Šæ§ä»£ç¢¼1A762Guncode2ç„Šæ§ä»£ç¢¼2A763Guncode4ç„Šæ§ä»£ç¢¼4A764Guncodespare備用焊æ§è™Ÿç¢¼A765診斷功能AA769ProgramW1程åºè™ŸA770ProgramW2程åºè™ŸA771ProgramW4程åºè™ŸA772ProgramW8程åºè™ŸA773ProgramW16程åºè™ŸA774ProgramW32程åºè™ŸA775ProgramW64程åºè™ŸA776ProgramW128程åºè™ŸA777Vehicletypev1類型號A778Vehicletypev2類型號A779Vehicletypev4類型號A780Vehicletypev8類型號A781Vehicletypev16類型號A782Vehicletypev32類型號A783Vehicletypev64類型號A784Vehicletypev128類型號在分é…焊鉗的IO地å€æ˜¯E/A737à 752
VASS06的版本:
-20161019.xml
åœç”¨US2診斷并在è¨å‚™ä¸Šé¡¯ç¤ºç´…色錯誤LED
使用SMC的水氣站RIP-SMC
RIP1çš„IOå€(qÅ«)域:513-520
E513K1æ°´æµé‡åˆæ ¼A513KYP01AEé–‹æ°´
E514BV01WMINæ°´æµé‡ä½Žä½æª¢æ¸¬
E515BV01WMAXæ°´æµé‡é«˜ä½æª¢æ¸¬A515KYP01AA關水
E516BD01ND低壓氣åˆæ ¼
GSDML--SMC-EX245--20130730.xml
FESTOçš„RIPè¨ç½®:
使用BOSCH焊接控制器:
E785Weldcomplete焊接完æˆE786Tipdressrequest當å‰ä¿®ç£¨è«‹æ±‚E787Tipdresscounterreset修磨次數(shù)清零ã€å¾©ä½E788Starttipdressrequest首次修磨E789Tipdressingnecessary有兩把æ§ï¼Œä¸€æŠŠéœ€è¦ä¿®ç£¨çš„時候E790Withtipdressingseletedå·²é¸æ“‡ä¿®ç£¨E791Tipchangingprewarningé›»æ¥µå£½å‘½å ±è¦E792Weldon(withweldingcuttent)開始焊接E793Targetelectrodeforcevalency1電極壓力目標值E794Targetelectrodeforcevalency2E795Targetelectrodeforcevalency4E796Targetelectrodeforcevalency8E797Targetelectrodeforcevalency16E798Targetelectrodeforcevalency32E799Targetelectrodeforcevalency64E800Targetelectrodeforcevalency128E801EndofstepperçµæŸç†±é‡éžå¢žE802Timerready控制器準備好E803Withmonitoring帶電æµç›£(jiÄn)控E804WeldOK焊接完æˆE805WeldnoOK焊接未完æˆE806Warninglimitconsecutivelyviolated連續(xù)ä¹é»žå離ä¸é–“公差帶E807Proportionalvalvepressurereached閥的壓力é”到è¦æ±‚E808Differentialcurrentmonitoringtrippedé›»æµç›£(jiÄn)控E809Phasemonitoring相ä½ç›£(jiÄn)控E810Overcurrentonprimarysideåˆç´šç·šåœˆéŽæµE811Currentsensorerroré›»æµå‚³æ„Ÿå™¨éŒ¯èª¤E812Voltagesensorerror電壓傳感器錯誤E813Overcurrent24VDC24VéŽè¼‰E814InverterOvertemperature變壓器溫度éŽé«˜E815Spotselectionerror焊點é¸æ“‡éŒ¯èª¤E816Protocolwriteerror記錄錯誤E817Reservierté ç•™A785Start焊接開始A786Tipshavebeendressed電極已修磨A787Electrodeshavebeenchanged電極已更æ›A788Resetfault普通故障復ä½A789ResetfaultwithWC控制器故障復ä½A790Startrecordingprotocol開始記錄電æµA791Functiontestwithoutcomponent無件測試A792Weldon(withweldingcurrent)焊接打開,帶電æµç„ŠæŽ¥A793feedbackelectrodeforcevalency1電極壓力å饋A794feedbackelectrodeforcevalency2A795feedbackelectrodeforcevalency4A796feedbackelectrodeforcevalency8A797feedbackelectrodeforcevalency16A798feedbackelectrodeforcevalency32A799feedbackelectrodeforcevalency64A800feedbackelectrodeforcevalency128A801Spotselectionvalency1焊點é¸æ“‡å€¼A802Spotselectionvalency2A803Spotselectionvalency4A804Spotselectionvalency8A805Spotselectionvalency16A806Spotselectionvalency32A807Spotselectionvalency64A808Spotselectionvalency128A809Spotselectionvalency256A810Spotselectionvalency512A811Spotselectionvalency1024A812Spotselectionvalency2048A813Spotselectionvalency4096A814Spotselectionvalency8192A815Spotselectionvalency16384A816Spotselectionvalency32768A817Identvalency1車型é¸æ“‡A818Identvalency2A819Identvalency4A820Identvalency8A821Identvalency16A822Identvalency32A823Identvalency64A824Identvalency128A825Reservierté ç•™-Rexroth-PSS6000-20180924.xml
國產(chÇŽn)分æ€æ©Ÿå™¨äººå‰å分æ€æ©Ÿå™¨äººå“ªå®¶å°ˆæ¥(yè)機器人控制é‚輯圖:
使用的KRL語言的高級程åºï¼š
feh_usr_æ示機器人è¨å‚™æ•…éšœ:以水æµé‡ç‚ºä¸»
å¯ä»¥åœ¨æ¯å€‹ç„ŠæŽ¥é»žèª¿(dià o)用該技術包。通éŽè©²èª¿(dià o)用,一方é¢æ ¹æ“š(jù)蓋的磨æå°‡TCP臨時更改為–X,å¦ä¸€æ–¹é¢æ ¹æ“š(jù)åƒæ•¸(shù)P3“å移â€çš„值將TCP更改為–X。通éŽåƒæ•¸(shù)P4“è·é›¢â€ï¼Œå¯ä»¥é¸æ“‡æŒ‡å®šåœ¨é»žPLC處ç†ä¹‹åŽåœ¨å¾ªç’°(huán)ä¸åŸ·(zhÃ)行的æå‡å€¼ã€‚這樣å¯ä»¥åŽ»é™¤ä»¥å‰ä½¿ç”¨éŽçš„組件上的磨痕
ä¸é–“點或è·é›¢å¤§äºŽå›ºå®šE臂的3mm焊接點在單æ¥MSTEP模å¼ä¸‹ç·¨ç¨‹ï¼Œç„¡TCP移ä½ä¸”ç„¡åƒæ•¸(shù)4ï¼Œå› æ¤å¯ä»¥æª¢æŸ¥æˆ–更改固定E臂的編程è·é›¢ã€‚在單æ¥GOæ“作ä¸ï¼Œä½¿ç”¨TCP移ä½å’Œåƒæ•¸(shù)4。
常用MAKRO的用法
Makro80焊接
Makro81ç¶ä¿®ä½ç½®/æ›´æ›é›»æ¥µç¢ºèª
å¿«éžåˆ†æ€æ©Ÿå™¨äººè¨å‚™åˆ†æ€æ©Ÿå™¨äººç”Ÿç”¢(chÇŽn)倉儲分æ€æ©Ÿå™¨äººè¦–é »