机器人技术焊接coordinated motion

1、COORDINATED MOTION同步运动1.The Coordinated Motion Option同步运动的选用（目的）A.Coordinated Motion is an additional option installed into a robot that has a programmable auxiliaryaxis positioner connected to it. It provides for greater ease of teaching of programs which require the robot arm and the positioner to

2、 move together in unison.对于一个带有可编程外部辅助轴的人来说，可使用外部轴同步运动。在编写需要人臂与外部轴同步运动的程序时，同步运动指令能使程序的示教更加简单方便。Coordinated motion provides for an easier way to jog the the robot/auxiliary axis to teach welding points and it simplifies how welding travel speeds are taught for the portions of the program where coordi

3、nated motion is taught.B.同步运动指令为点器人及辅助轴从而示教焊接点提供更加简单的方法； 它简化了如何在同步运动被示教的地方进行焊接速度的示教。Coordinated Motion allows one to jog an auxiliary axis to rotate the weld joint and at the same time have the robot/wire tip stay in the weld joint and move with the part as the part is being rotated. Not only is the

4、wire tip staying in the weld joint as the part is being rotated, the programmer can elect to have the torch angle remain at the same fixed position as he is jogging the auxiliary axis. This is referred to as Fixed Orientation.Or he can have the torch angle change as the part is rotated. This is refe

5、rred to as Attached Orientation.同步运动指令使你能够运动外部轴从而旋转焊缝，而此时让人/焊丝端头停留在焊缝处，当待焊C.部件旋转时随着部件一起运动。当编程同时运动辅助轴时，他也可以让焊枪的角度保持在某种固定的位置上。这就是所谓的 Fixed Orientation；此外它也可以在部件被旋转时让焊枪的角度改变，这也就是所谓的 Attached Orientation。2.Terminology相关术语A. Motion Group- a software setup consisting of nine slots that a programmable axis

6、 can be installedinto. Motion Group 1 is primarily dedicated to the robot arm. The first 6 slots are dedicated to the 6 axis of the robot arm. This leaves 3 additional open slots that an auxiliary axis could be installed into. Installing an auxiliary axis into one of these slots could, however, pres

7、ent some safety hazards. If it were necessary to create a program on a side, fixed table, for example, as the programmer was recording points for a part on the side table, the auxiliary axis position would also be recorded into the program along with the 6 axis of the arm even though the auxiliary a

8、xis is not being used in the program; there is no way to lock it out or prevent it from being recorded into the program.软件设置由九个孔槽决定，可编程轴能被安装进去。Group 1 是专门指派给人手臂的，前 6 个槽孔专门对应人的这 6 个轴。其他三个孔槽留给辅助轴。在其中一个开放的孔槽中安装一个辅助轴会存在一些安全隐患。 所谓 Motion Group，也就是将轴，再分别将其定义为其他的运动 Group。人六个运动轴归纳为一个 Group。如若有外部附加An excepti

9、on would be a programmable track that the arm is mounted on; here, it would be desirable to have the track and the robot arm all recorded into the same point.To prevent an auxiliary axis position from being recorded into a program that is not using the auxiliary axis, another minor option called Mul

10、tiple Motion Groups is installed into the robot. This gives the programmer the ability to disable or “Group Mask the auxiliary axis. If the weld cell had 1 auxiliary axis work station, a second motion groupwould be installed; a second auxiliary axis work station would require a third motion groupto

11、be installed. Theum number of motion groups is 3.A tilt/rotate positioner is a 2-auxiliary axis device. In this case, both axis would be installed into the same new motion group.1例外的是当手臂安装在可编程的轨道上，在同一个点上应该把轨道和人臂的位置数据全部。要防止在一个程序中下不被使用的辅助轴的位置，在人中安装“Multiple Motion Groups”，这能使编程者将某个轴设置成“Disable”或者“Grou

12、p Mask”。如果焊接单元有一个辅助轴工作站，应该设置另一个“Group”， 若还有一个辅助轴，就要相应地设置第三个“Group”。Group 的最大数值为 3 个。一个倾斜/旋转位置调整器是一个 2 辅助轴设备。 这样，这两个轴都应被安装进同一个新的 Group 中。B. Leader Group- the auxiliary axis; this will be motion group 2 or 3. As the leader group is manually jogged, the follower group ( which is the robot arm, motion g

13、roup 1) follows along or moves with the leader group.引导动作组外部辅助轴，通常为 Group 2 或 3。因为引导动作组是手动的，跟随动作组（ 组 1）随着引导动作组一起移动。C. Follower Group- the robot arm, motion group 1.跟随动作组永远是人动作组 1。人臂动作D. Rotary Axis-a rotating auxiliary axis such as a head/tail stock or tilt/rotate table.旋转轴一旋转辅助轴，如一个头/尾架或者倾斜/旋转台。E.

14、Linear Axis-线性轴安装a programmable track that the robot arm is mounted on.人臂的可编程轨道。F. Fixed Orientation- as the part is rotated with the wire tip stationary in the weld joint, the torch angle remains constant. Will be referred to as F21.固定方向焊丝端头随着工装上的部件一起旋转，焊枪角度保持不变。在设置屏幕中被成 F21.G. Attached Orientation

15、- as the part is rotated with the wire tip stationary in the weld joint, the torch angle changes accordingly. Will be referred to as C21.所附方向焊丝端头随着工装上的部件一起旋转，焊枪角度随着部件的旋转发生相应地改变，在屏幕上被成 C21。3.Coordinated Motion Setup同步动作设置A. Coordinated motion must be setup correctly before it can be used for programm

16、ing a weld joint. Prior to setting up coordinated motion, the following setups must have been performed first:当在一个焊缝编程时使用同步运动指令(coord)前，必须对同步运动进行恰当的设置。在对同步运动进行 所有恰当设置之前，必须首先完成如下设置：1. The auxiliary axis has been remastered and calibrated if it is a new installation( this must be done because the batt

17、ery backup for the auxiliary axis motor/encoder was disconnected for shipment).因为辅助轴马达/编码器的电池备份由于Remastered 和校准。注：该项校准的具体步骤为：自定义一个位置作为外部轴的零点位置，然后切换到外部轴的 Group， 之后进入 zero master 的设置界面进行 master 的具体操作。 结束后再执行校准（calibrate）。2. A tool frame (tool center point) has been setup for the torch mounted on the r

18、obot arm.对于安装到人臂上的焊枪来说，工具坐标（TCP）已被设置好。3. A mark or pointer has been placed on the rotating, moving portion of the auxiliary axis.已经断开连接，如果重新安装辅助轴，必须对其进行在辅助轴的旋转和移动方面，推荐设置一个标记或者指示。4. The auxiliary axis has been jogged to its zero degree position; press the POS key at bottom of teach pendant and be sur

19、e G2 ( or G3 if desired ) is displayed on the blue bar at top of teach pendant( press FCTN key,curser to line “Change Group”, Enter) to assist in zeroing.If its a tilt/rotate table, have both axis at their zero degree position.辅助轴置零；按下示教器下方的 POS 键，并确保 G2（或者 G3）出现在示教器顶端的蓝条上（按下 FCTN 键，光标在行“Change Grou

20、p”，enter），在相应的界面上对辅助轴进行置零。2B.1.Press按下S key, curser to line “Setup”, Enter。S，光标停在 Setup 行，按 Enter。2.Press F1-Type key, curser to line “Coord” (press 0-Next, if necessary to locate), Enter. Following screen now appears on teach pendant:按 F1-TypeCoordEnter。 下列屏幕出现：注：对于 leader framber 的具体数值，如果不特殊定义外部轴的

21、坐标系， 则以屏幕默认值为准；如果为了方便编程，或者工件及外部轴安置方向较特殊，需要设定外部轴坐标系，则通过 C_TYPELeader frame后出现的界面上进行设置，具体步骤类似 touch sensing 中的 frame 设制。3. In this first screen, a “CD Pair” will be defined. A CD Pair is made up of 2 motion groups, either motion groups 1 and 2 or motion groups 1 and 3. A single auxiliary axis work sta

22、tion cell will require only 1 CD Pair to be setup. A 2 auxiliary axis work station cell, left and right head/tail stocks for example, will require 2 CD Pairs to be setup. With curser on line “ Coord Pair Number”, in the brackets, key in a 1, then press Enter.该屏幕中，一个“CD Pair(Coord Pair Number) ”要被限定。

23、一个 CD Pair 是由两个动作组组成的，或者是Group1 与 2 或者是 Group1 和 3。仅有一个辅助轴的工作站仅需设置一个 CD Pair； 而有两个辅助轴的工作单元例如带左右头/尾架的工作站，将需要设定两个 CD Pair。具体操作是将光标移到“ Coord Pair Number”上，在后面键入 1，然后按下 Enter 键。4. Curser to line “Leader Group” and key in the motion group number of the auxiliary axis work station you are setting up (this

24、 will be a 2 or a 3), then press Enter.光标移到行“Leader Group”处，并键入所设置工作站中辅助轴的 Group 号（或者 2 或者是 3），然后按下 Enter 键。5.At bottom of teach pendant screen will be a message that says “Position Data Will Be Cleared!”, press the F4-Yes key to confirm.NOTE: This message will not appear if setting up Coordinated M

25、otion on a robot that already had it setup in the past.在示教器的屏幕底端，将会出现一个提示信息，告知“Position Data Will Be Cleared!”,然后按下 F4- Yes 键进行确认。注：如果在一个过去已经设置过同步动作的人上再次设置同步运动的话，该信息将出现。6.Curser to line “Follower Group” and key in the motion group number of the follower group. The Follower Group will always be motio

26、n group 1 for the robot arm. Key in 1, Enter.光标移动到行“Follower Group”上，并键入 follower group 的组号，该号码永远都是 1，也就是在后面的空格处键入 1，按下 Enter 键。Again, a message will appear at the bottom of the teach pendant screen on a new installation stating37.SETUPCoordG1JOINT10%1/5Coord Pair Number :1 Leader Group :2Follower G

27、roup :1X:0.000 Y:0.000 Z:0.000W:0.000 P:0.000 R:0.000Follower orientation: ATTACHED Leader framber: 2 TYPE C_TYP “Position Data Will Be Cleared!” Press the F key for Yes to confirm.这时在示教器屏幕的下方又会出现关于新安装启动“Position Data Will Be Cleared!”。按下 F 键 Yes 进行确认。8. Curser to line “Follower Orientation”; it sho

28、uld indicate Attached. This could be changed to Fixed or to Both, depending on the programmers preference, by pressing the F4-Choice key. Section 4 of this instruction will detail this item further.光标移动到行 “Follower Orientation”; 该行后面应该显示 Attached。这项也能被编成 Fixed 或者“Both”， 根据编程的想法来选择，步骤是 F4-Choice。本章节第

29、四部分将会进行详细阐述。9. Press F2-C_TYPE key; at sub, curser to line “Unknown”, Enter.New screen now appears, as shown below: F2-C_TYPE按下 F2-C_TYPE 键，在子菜单中，选择“Unknown”,按下 Enter。 此时将会出现下方的屏幕：10.Curser to line “Axis Number”. Key in the number of the auxiliary axis being calibrated( 1 for a head/tail stock; for

30、a tilt/rotate table, the number would be a 1 for the calibration of the first axis and then later changed to a 2 for the calibration of the second axis)光标指向行“Axis Number”，键入正在被校准的辅助轴的号（对于一个头/尾架来说为 1；对于一个倾斜/旋转台来讲，第一轴的校准号为 1，之后进行第二轴的校准时键入 2）。Line “Axis Type” should be Rotary. 行“Axis Type”应设置成 Rotary。L

31、ine “Axis Direction” should be +X.行“Axis Direction“应设置成+X。Move curser to line “Point 1”:Using desired coordinate (World, Jog Frame) system, jog the robot (group 1, make sure G1 is on the blue bar at top of screen) to a position where the wire tip just touches the mark or pointer on the auxiliary axi

32、s. See drawing below:11.12.13.移动光标到行“Point 1“上：使用期望的坐标（world 坐标系）系统，点器人（Group 1，确保 G1 在屏幕顶端的兰条上）使焊丝端头刚好接触辅助轴上的标记或者。见下方图示：4SETUPCoordG1JOINT10%1/6Unknown type calibration Coord Pair: 1 Group Number Leader: 2 Follower: 1X:0.000 Y:0.000 Z:0.000W:0.000 P:0.000 R:0.000Axis Number:1 (Total: 1) Axis Type:R

33、OTARYAxis Direction:+X Point 1:UNINITPoint 2:UNINITPoint 3:UNINIT TYPE C_TYP EXEC MOVE_TO RECORDPress Shift and F5-Record; Uninit changes to Recorded.按下 Shift 及 F5-Record， 此时 Uninit 将会变成 Recorded。Jog the robot (Group 1 ) up and away from the auxiliary axis a few inches.然后向上点器人（G1），使其离开辅助轴几英寸。Move th

34、e curser to line “Point 2”:Change to group 2 (press FCTN key, curser to line “Change Group”, Enter), G2 should be on blue bar, Rotate the auxiliary axis in the +X direction approx. 30 to 90 degrees.Return to group 1 and jog the robot until the wire tip just touches the mark or pointer on the auxilia

35、ry See drawing below:移动光标到行“Point 2”:14.15.axis.改变成 Group2（按下 FCTN 键，光标选择行“Change Group“，按下 Enter， G2 应该会出现在兰条上。将人绕+X 方向旋转 30 到 90 度。切换到 Group1 并点器人，直到人焊丝端头刚好接触到辅助轴上的标记或指示器。Press Shift and F5-Record; Uninit changes to Recorded.5按下 Shift 及 F5-Record；Uninit 变成了 Recorded。16.Jog the robot (group 1) up a

36、nd away from the auxiliary axis a few inches.向上点器人（Group1）使其远离辅助轴几英寸的距离。17.Move the curser to line “Point 3”.Change to group 2 ( press FCTN key , curser to line “Change Group”, Enter, G2 on blue bar. Rotate the auxiliary axis another 30 to 90 degrees in the +X direction.Return to group 1, and jog th

37、e robot until the wire tip just touches the mark or pointer on the auxiliary axis. See drawing below:将光标移到“Point 3”：变换到 group 2 （按下 FCTN ，指针指向行“Change Group”, 按下 Enter, G2 将会在兰条上。将辅助轴绕+ X 方向旋转 30 到 90 度，返回到 Group1，并点轴上的标记或者指示器上。见上图所示：按下 Shift 及 F5-Record; Uninit 变成 Recorded.器人直到焊丝端头刚好接触到辅助18.This co

38、mpletes the recording of points for a one axis auxiliary axis work station as a head/tail stock. Proceed to step 19.However, if the auxiliary axis work station is a two axis work station such as a tilt/rotate table, then 3 more points must be taught for the second axis. In this case, return the firs

39、t axis back to its zero degree position (use the POS key at bottom of teach pendant to assist).Then, place a mark or pointer on the second axis and repeat steps 10-17. On step 10, with curser on line “Axis Number”, key in a 2 to replace the 1 that is currently there.Use the J2, + and Y, keys to jog

40、the second axis.这就完成了/尾架的辅助轴工作站的一个辅助轴上所有点的。继续执行第 19 步操作。然而，如果辅助轴工作站是一个两轴的工作站，例如倾斜/旋转台，那么必须为第二个轴再示教 3 个点。如果这样，将第一个轴返回到零度位置（采用示教器下方的 POS 键）；然后， 在第二个轴处放置一个标记或者指示器，并重复上述的 10-17 步的操作。 在第 10 步，随着光标指向“Axis Number”,键入 2 取代已经存在的 1。使用 J2、+和-Y 键来点动第二个轴。19. With all points now taught, press Shift and F3-EXEC; t

41、he robot now completes the calibration.If it was done correctly, a message will appear at the bottom of the teach pendant thatreads “Pair Calibrated, Please Cold Start”. Cold Start means to power down the robot wait 3 seconds, then power up. There should be no alarms. See Step 4 on how to check for

42、correct calibration.所有点被示教后，按下 Shift 及 F3-EXEC；人就完成了校准。如果以上操作被恰当执行， 一个提示信息将会出现在示教器屏幕底方“Pair Calibrated, Please Cold Start”。6Cold Start（FCTNCold Start） 意味着关掉人电源等待 3 秒钟后再重新开电源。将有任何。检人焊枪查人 COORD 设置的是否准确，可以将人置于 C21 或者 F21 等状态下点器人，如果端头相对于外部轴位置不发生移动，则证明设置准确，否则，须重新设置！（可参照下面第 4 部分的 B4 步骤进行）。4. How to Jog an

43、d Program Using Coordinated Motion如何采用同步运动点动系统和编程。A. There are two ways to jog the robot and the auxiliary axis together using Coordinated Motion:有两种方法同步运器人和辅助轴：1. Attached Orientation- this method allows for the part to be rotated, keeping the wire tip in the weld joint, and also forces the torch a

44、ngle to change automatically, maintaining the same torch angle to weld joint orientation.Attached Orientation-这种方法需旋转部件，保持焊丝端头在焊缝中，同时迫使焊枪角度自动改变，维持焊枪与焊缝的夹角不变。2. Fixed Orientation- this method allows for the part to be rotated, keeping the wire tip in the weld joint but keeps the torch angle constant

45、as the part is rotated.Fixed Orientation-该方法使部件旋转，而保持 焊丝端头在焊缝中，并当部件被旋转时使焊枪角度不变。Which methods that are available to use is determined in the first or primary Coordinated Motion setup Screen, on the line “Follower Orientation”. See screen below:采用哪种方法是根据同步运动设置屏上行“Follower Orientation”后的设定来决定的。见表：当光标指向

46、 “Follower Orientation”时，按下 F4-Choice,一个子菜单将会出现在上方屏幕的顶端。如上面表所示。在子菜单中有三种供选项：a. Attached- allows the torch angle to change as the part is rotated Attached-随着部件的旋转改变焊枪角度。b. Fixed- keeps the torch angle constant as the part is rotated Fixed-当部件旋转时，保持焊枪角度不变。c. Both- allows for either method to be used fo

47、r joggingBoth-可使用其中任何法来点动系统。Which method is the best method depends on the type of part being programmed and the desired outcomeof the program and ease of teaching and also theal preference of the programmer. Practicing ondifferent types of parts and weld joints using both methods is the best way to

48、 become proficient in determining which method would be the best to use for future jobs.哪种方法最好要根据所编程的部件的类型、期望的程序结果、示教的方便程度以及编程个人的7G1JOINT10%1 ATTACHED2 FIXED3 BOTH4SETUPCoordX:0.000 Y:0.000 Z:0.000W:0.000 P:0.000 R:0.000Follower orientation: AttachedLeader framber: 2 TYPE C_TYP CHOICE喜好。在不同类型的部件和焊缝上

49、采用两种方法进行实践练习，以便决定在将来的工作中哪种方法是最好的。B. Attached Orientation method:Attached Orientation 方法：1. With G1 on the blue bar at top of teach pendant screen, jog the robot until the wire tip is placed in the Weld joint. Then press the FCTN key, curser to line “Change Group” (press 0-next to locate if necessary

50、), Enter. G2 should now appear on the blue bar.See example screen below:当 G1 在示教器顶端的兰条上出现时，点器人直到焊丝端头位于焊缝处为止。然后按下 FCTN键，光标置于行“Change Group”，按下 Enter 键 G2 将会取代 G1 出现在兰条上。见下方的示范屏幕所示：2. Press FCTN key again, curser to line “Toggle Coord Jog” (press 0-next to locate if necessary), Enter. See example scre

51、en below:再次按下 FCTN 键，光标移到行“Toggle Coord Jog”，然后按下 Enter，见到下方屏幕出现：C21 现在出现在兰条上.3. The letter C represents Coordinated Motion, the 2 represents motion group 2, the leader group which is the auxiliary axis. The 1 represents motion group 1, the robot arm. The 2 is in front of the 1, group 28AUX_DEMOC21J

52、OINT10%1/61:J P1 100% CNT 2:J P2 100% CNT3:J P1 100% CNT4:J P3 100% CNT5:J P1 100% CNTEndPOINT ARCSTRT WELD_PT ARCENDTOUCHUP>FUNCTIONS 1 ABORT (ALL)2 DISABLE FWB/BWD3 CHANGE GROUP4567 RELEASE WAIT8 TOGGLE COORD JOG90 next-AUX_DEMOG2JOINT10%1/61:J P1 100% CNT1 2:J P2 100% CNT13:J P1 100% CNT14:J P

53、3 100% CNT15:J P1 100% CNT1EndPOINT ARCSTART WELD_PT ARCEND TOUCHUP>0FUNCTIONS0 1 ABORT (ALL)0 2 DISABLE FWD/BWD0 3 CHANGE GROUP0 4567 RELEASE WAIT8 TOGGLE COORD JOG90 next-leads and at the same time group 1 follows.字母 C 代表同步运动（Coordinated Motion），2 代表动作 G2 引导组，即辅助轴。 1 代表 G1臂。2 在 1 前面表示 G2 为引导 G1

54、 为跟随。人4. Now jog the auxiliary axis by pressing Shift and either J1 keys, +or X, and you will see that although you are technically jogging the auxiliary axis, the robot arm and wire tip are following right along with it. Also note the torch angle is changing as the part is being rotated. The abilit

55、y to jog in this manner will generally make teaching programs easier. One does not have to jog the robot arm out of the way first in order to jog the auxiliary axis to a new position for teaching points.现在通过按 Shift 及 J1、+或者 X 来点动辅助轴，你将发现尽管您只是点动了辅助轴，但人臂和焊丝端头都跟随着运动。也要注意，焊枪的角度随着部件的旋转而改变。一般来讲，以这种方式点动会使示

56、教更容易些。5. To return to jogging just the robot, group 1, (G1 on the blue bar), press the FCTN key , curser to line “Change Group”, Enter.要想只点器人 G1，（即 G1 在兰条上），按下 FCTN 键，光标置于行 “Change Group”,按下 Enter.6. To return to jogging just the auxiliary axis, group 2, (G2 on the blue bar), press FCTN key, curser to line “Toggle Coord Jog”, Enter.要想只点动辅助轴 G2，（G2 在兰条上），按下 FCTN ，光标置于“Toggle Coord Jog”, 按下 Enter.C. Fixed Orientation method:固定方向1. With G1 on the blue bar at top of teach pendant screen, jog the robo