Touch sensing具体步骤.doc

TOUCH SENSING Similar to Torchmate in theory of operation, the Touch Sensing option is to robotically weld parts that do not have repeatable arc start positions. This instruction presents the fundamentals of the setup and teaching of a program to weld a part whose arc start point could change in twodifferent directions.A.2-DIMENSIONAL SHIFT1.Position and secure a master part on a table. This is where the actual welding program will be taught and where the set up will be performed.在桌面上安放一个标准部件，在该部件上示教实际的焊接程序，并进行相关的设置。Training partwith filletweld indicated For this training example, the sample training part will be positioned on the table as shown. Simulated weld joint will be 45o from robot center. 作为培训用样本，我们将部件按如图所示角度（与机器人中心点成45o）安装在机器人工作台上。 In actual practice, the production part used for teaching the program would be representative of the ideal, perfect part made in production, while actual production parts may have weld joints that vary slightly. a. For this procedure to work correctly, it is assumed that the robot is set up correctly with an accurate tool center point. 准确的TCP是进行准确寻缝的前提， 在此我们使用以前已经做过的准确的TCP. 182.Three different, touch sensing - related, setups will be performed:A. Set up Touch Frame 该步操作是为了确定寻缝时的坐标系及方向。1)This procedure requires the teaching of 3 points. The connecting of these points will then define an X, Y, and Z search direction which tells the robot precisely which direction to move the torch through space to allow the welding wire to make the desired contact with the part. Press the Menus key, item 6 Setup, F1-Type, 0- Next page, item 1 Touch Frame. 32 Touch Frames are available for use. The following screen will appear:具体步骤就是在工件表面示教三个点，从而定义出xyz 坐标方向。SFT LINE 0TOUCHFRAMESETUPJOINT10% 1/7Frame Number: 7 Reference Grp: 1 (Note: Reference Grp will Direct Entry: be 1 in all weld cells Rotate about X : 0.000 except those with multipleRotate about Y : 0.000 motion groups used with aux-Rotate about Z : 0.000 iliary axis and coordinated motion; then this value will be Teach Method: 2, 3, 4, or 5 for the respectiveOrigin : UNINIT leader group.)+X direction : UNINIT +Y direction : UNINITTYPE RECORD DONE2) Curser will be on Frame number; keypad in desired frame number, press Enter. Curser down to Origin line. With robot in desired coordinate system, jog the robot so that the wire tip is above any corner of the part, similar to as shown below:设好Frame 的号后，光标直接移到Origin 行处，将焊丝端头运动到某个拐角处，并与工件表面相距612mm处记录一个点。 Origin Point Wire tip approx. 1/4-1/2 （612mm） above corner. Using the F2 record key, record this point UNINIT will change to Recorded 3) Curser down to +X direction line. With desired coordinate system set, jog the robot along a path through space that you wish to define as the +X direction (see example below), approx. 2- 3. Do not change or jog Z axis.在不改变Z 方向的情况下，沿着你想定义为X正方向的方向运动2- 3（6厘米左右）的距离后，再记录一个点作为+X 方向点。 Again, record: F2- Record +X Direction4) Curser down to +Y direction line; jog the robot along a path through space that you wish to define as the +Y direction , approx. 2 ( see example below ). Do not change Z axis.与x方向定义方式相同，定义+Y direction点。 Again, record : F2- Record +Y Direction 5) With all 3 points now recorded, press the F5 done key. Robot makes a calculation then the following screen appears, with some values automatically inserted into the Direct Entry portion of the screen. These values are not important in using the Teach Method:设置界面上三个点都定义好了之后，按下F5 done。 即完成了Touch Frame的全部设置。SFT LINE 0TOUCHFRAMESETUPJOINT10% 1/7 For this example,Frame Number:7 Reference Grp: 1 X +Y remain unchanged Direct entry: while Z is -45o, which Rotate about X : -0.000 is the amount the part Rotate about Y : -0.000 is rotated about the Z Rotate about Z : -45.000 axis. Teach Method: Origin : USED +X direction : USED +Y direction : USED TYPE RECORD DONEThe Touch Frame is now setup. The search direction motion is now defined.现在，搜索方向和坐标系已经确定啦！B. SETUP TOUCH SCHEDULE该项操作是用来限定相关参数的，例如搜索的距离等。1.With motion now being defined, we must set up actual search and touch parameters such as the distance the robot will search for the part before an error displays.2.Press Data key, F1 Type, Touch Schedule. The following screen appears, with the curser on 1 of 32 available schedules:SFT LINE 0DATATOUCHSCHEDJOINT10% 1/32(MM/SEC)(MM)FRAMEMASTERLine 9 is a factory110.0100.00 1OFFset default setup,210.0100.00 2OFFfor example.310.0100.00 2ON450.0100.00 1OFF510.0100.00 2OFF6 10.0100.00 2OFF710.0100.00 7OFF850.0100.00 1OFF950.0100.00 1OFF TYPE DETAIL HELP 3.Select the desired schedule number by cursering down to that number, then press F2 Detail key to bring up the following screen: 选择其中一个参数组后进入详细设置的界面，如下所示： SFT 1 LINE 0 Setup per below:DATATouchSchedJOINT10% 1/14 1 Touch Schedule: 7 TouchSchdule7 indicates schedule number being set up (ON) this is on for the first time program playback only 2 Master flag: OFF (robot learns master part) then is set to OFF仅仅在所有设置结束后第一次执行TS程序时置于ON，以便机器人记录下标准的参考位置；之后就将其改成OFF（Simple search 搜索类型除外）。 最好在off的时候在标准件上再进行一次TS操作，确认操作正常后再来改变工件位置。 Speed that the robot searches for the part: If 3 Search speed 10.0 mm/sec set too fast, the wire tip may bend when touch is made, resulting in incorrect touch data 4 Search distance 100.00 mm distance robot searches for part before an alarm occurs if contact is not made 5 Touch frame 7 1-32 here; input the Touch Frame number that your motion was defined in 6 Search pattern fillet/lap defines type of search: also simple, V groove OD-ID详细解释参照参数说明表。不同搜索类型决定位置寄存器中记录的数据类型不同。Simple Search在位置寄存器中存储的是实际的位置值，而其他类型存储的是当前位置相对于标准位置的偏置值。 7 Pattern type 2 D Shift number of searches: also ID, 2D+rot, 3D, 3D+rot 8 Incremental search ON standard setting 9 Auto return ON standard setting10 Return speed 100.0 mm/sec speed after touch is made11 Return distance 2000.0mm distance torch returns to but not beyond point能返回的最大距离，但不超过起始的出发点。12 Reference Group 1 1 except for Coordinated Motion aux axis,then 2-5 13 Return term type: fine could be cnt but use caution14 Contact record PR 32 standard setting( for viewing shifted part data)注：该号寄存器是一个临时的缓冲器，用来存储上一次搜索到的实际位置数据，每完成一次搜索，该寄存器中的位置值就会更新一次。当将Flag 置于ON在标准件上执行TS程序时，标准位置数据存储在该项寄存器中，之后将Flag 置于Off后再次执行程序时，寻找(search)到的实际位置将会被存储到该寄存器中并在缓冲区内与标准位置进行加减运算，将运算结果就是实际的Offset值存储在程序中所定 义的寄存器中，以便在实际焊接中作为偏置依据。15 Error on failure ON standard: displays error if something goes wrong16 Error register num 32 not used for this exercise TYPE SCHEDULE HELP 4.After setting, press the PREV key to return to original schedule display. This will display Search Speed, Search Distance, Touch Frame being used, and if Master Flag in ON or OFF, for all of the Touch Schedules.5.This completes Touch Schedule setup, however, make note of line 1 as this number will be inserted into the actual program.该参数表中行1（Touch Schedule: 7 ）要在实际编程时编写到程序中。 注意： 四种搜索类型的选用（simple, fillet/lap，V groove ， OD-ID ） 中， simple search有如下特殊性: 仅执行两维搜索，必须具有如下条件：1，搜索的两个方向的表面必须互相垂直 ，2只能使用2 D Pattern type，3，执行第二次搜索动作的时候必须使用恰当的焊枪角度，以便于在实际焊接时焊枪能够调整到这个角度。Simple search典型的应用在使用TAST的焊缝焊接前寻找起弧点。C.SETUP TOUCH I/O该项设置也就体现了硬件在TS 操作中的用处。用来感应碰触信号。1.This enables the electrical circuit used to sense the touch. When electrical contact is made between the wire tip and the part, that position data is stored. The searching action ceases and the program continues to the next step.启动电气线路来感应接触动作。当焊丝端头接触到了部件，位置数据就会被存储，搜索行为随即停止，然后继续执行程序的下一步操作。2. Press Menus key, 6 Setup, F1-Type, 0 Next Page, Touch I/O then the following screen appears:Menus 6 SetupF1-Type0 Next PageTouch I/O，出现如下屏幕： TouchI/OSetupJOINT10% CV-400/ PW455 1/4 STTNAMEVALUE1 Sensor port type: WSI DI 2 Sensor port number: 1 26 3 Circuit port type: WSO DOUT4 Circuit port number: 1 27 TYPE CHOICE HELPD.SETUP FOR TOUCH SENSING IS NOW COMPLETE进行到此步时，TS的所有设置都结束啦！ E. SAMPLE PROGRAM- 2D SHIFT1) Teach the actual welding program as shown below:按照如下所示示教焊接程序：在示教程序之前最好能够确定以下三个数值。 即：P * l 1 Touch Frame 7 l 2 Touch Schedule 7 Position Register 7l 11 l 3, 4 l 5 10 l 6, 7 9 9 l 8PROG SFT1:L P1 100.0 inch/min FINE ; HOME POINT 2:L P2 100.0 inch/min FINE ; SAFE APPROACH POINT *3: WO3=OFF : (Disables Arc) NEXT KEY, F1 INST, I/O, NEXT PAGE, WO , ENTER, 3, ENTER, OFF4: Search Start 7 PR 7; TOUCH SCH 7 FI INST KEY, TOUCH SENSOR, SEARCH START, 7, ENTER, POS, REG 7 7, ENTERsame5:L P3 100.0 inch/min FINE ; START FROM + RETURN TO, SEARCH X POINTS:point6:L P4 100.0 inch/min FINE Search X CURSER PAST FINE 1 SPACE, CHOICE, SEARCH, Xin space7:L P5 100.0 inch/min FINE ; SAFE POINT, AROUND THE CORNERsame8:L P6 100.0 inch/min FINE ; START FROM + RETURN TO, SEARCH Y POINTS:point9:L P7 100.0 inch/min FINE Search -Y CURSER PAST FINE 1 SPACE, CHOICE, SEARCH,- Yin space F1- INST, TOUCH SENSOR, SEARCH END 10: Search End ; PART HAS BEEN FOUND - TURN OFF SEARCH 11.L P8 100.0 inch/min FINE ; SAFE APPROACH POINT F-1 INST, TOUCH SENSOR, TOUCH OFFSET, 7, ENTER 12: Touch Offset PR7 ; ROBOT SHIFTS PROGRAM BY AMOUNT STORED IN POS. REGISTER 7 * 13: WO3=ON ; (Enables Arc) NEXT KEY, F1 INST, I/O, NEXT PAGE, WO , ENTER, ON ARC START POINT 14:L P9 100.0 inch/min FINE ; ARC START POINT 15:L P10 100.0 inch/min FINE ; ARC END POINT F-1 INST, TOUCH SENSOR, TOUCH OFFSET, END 16: Touch Offset End ; ENDS THE SHIFT; REMAINDER OF TAUGHT PROGRAM RUNS 17:L P11 100.0 inch/min FINE ; PULL OUT SAFE POINT 18:L P1 100.0 inch/min FINE ; HOME POINT END本程序中的PR7中存储的是实际焊缝的位置偏置量。是搜索到的实际位置相对于标准位置的变化值。 * NOT NEEDED WITH POWERWAVE!IMPORTANT: After you playback the complete program the first time and everything is OK, return to Touch Schedule and change line 2 Master Flag back to OFF to lock in master part program. IF A PROBLEM/ ALARM OCCURS:1. An alarm occurring during the master flagging of a program can almost always be traced back to a teaching/setup error in:A. The programB. The touch schedule screenC. The touch frame screenD. The touch I/O screen2. Once the problem is corrected, carefully jog the robot back to the home position, reset any alarms,Press FUNCTION key and press Enter on the line ABORT ALL, then run the master flag program again.F. SAMPLE PROGRAM- 2 DIMENSIONAL SHIFT WITH ROTATE 1)This program is nearly the same as the previous 2 Dimensional only program except that there will be 2, x searches and 2, -y searches at the ends of the part as shown.该示例与上一个例子基本一样，唯独在此例中，工件发生了旋转，所以必须在两个方向上各增加一次搜索，以便系统对工件相对于Z轴的旋转角度进行计算。 PROG TS2 1: L P1 100.0inch/min FINE 2: L P2 100.0inch/min FINE *3: WO3=OFF The additional X and -Y search allows 4: Search Start 7 PR 7 the robot to calculate a rotation about 5: L P3 100.0inch/min FINE the Z axis ( or about the center of the 6: