KUKA电伺服机器人焊点位置补偿示意图:
GLOBALDEFInitialize(TEACH_POS:IN,cont:IN)初始化
初始化示教位置
DECLE6PosTEACH_POS
DECLSG_Cont_Tcont
CONTINUE
$ADVANCE=3
SG_ExtaxActive=ServoGun[SG_ActiveGunNumber].ExtAxNumber
SG_ActiveWeldTimer=ServoGun[SG_ActiveGunNumber].WeldTimerIndex
bckupSetSG_AxVal()
果蔬分拣机器人–获得当前点的外部轴速度加速度—逼近$和提前运行$RED_VEL
SGE_InitErrorHandler()
IF(ServoGun[SG_ActiveGunNumber].ExtAxNumber0)then
SGA_SensorReset()
ENDIF
;------初始化点-----------
P_Part=SGL_CALC_POS(TEACH_POS,ServoGun[SG_ActiveGunNumber].TipCorrection,0)----获得焊接点位置
P_Approx=P_Part位置转移/传输
P_Forcelim=P_Part位置转移/传输
P_Pressure=P_Part
P_Weld=P_Part焊接位置
P_Ret=P_Part
SG_SpotHelper=P_Part
SG_PartPos=SGL_GET_AXIS_VALUE(TEACH_POS);力模式下可能的极板接触位置
END;
GLOBALDEFFCTE6POSSGL_CALC_POS(CURRENT_POS:IN,TipCorrection:IN,TouchDiff:IN)
TouchDiff=0执行焊接时
CURRENT_POS=TEACH_POS
TipCorrection=ServoGun[SG_ActiveGunNumber].TipCorrection=true电极校正
SGL_CALC_START_POS
REALTouchDiff,wearflex,wearfix,TouchOffset
E6POSCURRENT_POS,RETURNED_POS
BOOLTipCorrection
IF(TipCorrection)THENTipCorrection=true电极校正
wearflex=SG_WearFlex[SG_ActiveGunNumber]+SG_TipSeating_mm[SG_ActiveGunNumber]
wearflex弯曲磨损量由铣削后测量出来,SG_TipSeating_mm[1]电极坐值
wearfix=SG_WearFix[SG_ActiveGunNumber]+(SG_TipSeating_mm[SG_ActiveGunNumber]/2)
wearfix磨损修复由铣削后测量出来
ELSE---没有使用校正
wearflex=0.0
wearfix=0.0
ENDIF
X方向的补偿改变坐标–使用BASE坐标
SG_Helpframe=SGL_CALC_TCP_POS(TouchDiff,wearfix)---计算位置值
RETURNED_POS=CURRENT_POS:SG_Helpframe-----补偿值X方向的坐标
转移外部轴和S,T坐标值,用来没有激活外部轴时
RETURNED_=CURRENT_
RETURNED_=CURRENT_
RETURNED_=CURRENT_
RETURNED_=CURRENT_
RETURNED_=CURRENT_
RETURNED_=CURRENT_
RETURNED_=CURRENT_
RETURNED_=CURRENT_
TouchOffset=(wearflex+wearfix-TouchDiff)*SG_ClosingAxDir
计算偏差值
SG_ClosingAxDir=-1
TouchDiff=0执行焊接时
Wearflex弯曲磨损
Wearfix电极磨损
仓储分拣机器人视频改变补偿焊接点的外部轴E1
SWITCHSG_ExtaxActiveSG_ExtaxActive=1
Case1
RETURNED_=CURRENT_+TouchOffset
Case2
RETURNED_=CURRENT_+TouchOffset
Case3
RETURNED_=CURRENT_+TouchOffset
Case4
RETURNED_=CURRENT_+TouchOffset
物流分拣机器人哪里制造Case5
RETURNED_=CURRENT_+TouchOffset
Case6
RETURNED_=CURRENT_+TouchOffset
ENDSWITCH
RETURN(RETURNED_POS)反馈返回坐标值
ENDFCT;
GLOBALDEFFCTE6POSSGL_CALC_TCP_POS(touchDiff:IN,wearFix:IN)
计算补偿值touchDiff=0,wearFix电极磨损
SGL_CALC_TCP_START_POS
REALtouchDiff,wearFix
E6POSRETURN_HELPFRAME
DECLSG_DIRECTIONTYP_TrealDirectio
RETURN_HELPFRAME=$NULLFRAME坐标清0
realDirection=ServoGun[SG_ActiveGunNumber].GunDirection
GunDirection#PX--枪移动方向
IF((FDAT__FRAME==#TCP)ANDSG_RevFixedGunDirection)THEN
--------------FDAT__FRAME=#BASE所以此IF语句暂时不执行-------
realDirection=SG_RevToolDirection(ServoGun[SG_ActiveGunNumber].GunDirection)
ENDIF
--------------end---------------------
SWITCHrealDirectionrealDirection=#PX
CASE#NX
RETURN_=-wearFix+touchDiff
快递分拣机器人厂家CASE#NY
RETURN_=-wearFix+touchDiff
分拣机器人另类应用CASE#NZ
RETURN_=-wearFix+touchDiff
CASE#PX----------本次机器人执行的补偿数据touchDiff=0
RETURN_=wearFix-touchDiff直接用磨损值来补偿X方向
CASE#PY
RETURN_=wearFix-touchDiff
CASE#PZ
RETURN_=wearFix-touchDiff
ENDSWITCH
RETURN(RETURN_HELPFRAME)
ENDFCT
视觉识别分拣机器人塑料分拣机器人哪里有快递分拣机器人怎么分拣食品分拣机器人哪家强