KUKA電伺服機(jī)器人焊點(diǎn)位置補(bǔ)償示意圖:

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()

–獲得當(dāng)前點(diǎn)的外部軸速度加速度—逼近$和提前運(yùn)行$RED_VEL

SGE_InitErrorHandler()

IF(ServoGun[SG_ActiveGunNumber].ExtAxNumber0)then

SGA_SensorReset()

ENDIF

;------初始化點(diǎn)-----------

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

P_Approx=P_Part位置轉(zhuǎn)移/傳輸

P_Forcelim=P_Part位置轉(zhuǎn)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;

GLOBALDEFFCTE6POSSGL_CALC_POS(CURRENT_POS:IN,TipCorrection:IN,TouchDiff:IN)

TouchDiff=0執(zhí)行焊接時(shí)

CURRENT_POS=TEACH_POS

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

SGL_CALC_START_POS

REALTouchDiff,wearflex,wearfix,TouchOffset

E6POSCURRENT_POS,RETURNED_POS

BOOLTipCorrection

IF(TipCorrection)THENTipCorrection=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(cè)量出來(lái),SG_TipSeating_mm[1]電極坐值

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

wearfix磨損修復(fù)由銑削后測(cè)量出來(lái)

ELSE---沒(méi)有使用校正

wearflex=0.0

wearfix=0.0

ENDIF

X方向的補(bǔ)償改變坐標(biāo)–使用BASE坐標(biāo)

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

RETURNED_POS=CURRENT_POS:SG_Helpframe-----補(bǔ)償值X方向的坐標(biāo)

轉(zhuǎn)移外部軸和S,T坐標(biāo)值,用來(lái)沒(méi)有激活外部軸時(shí)

RETURNED_=CURRENT_

RETURNED_=CURRENT_

RETURNED_=CURRENT_

RETURNED_=CURRENT_

RETURNED_=CURRENT_

RETURNED_=CURRENT_

RETURNED_=CURRENT_

RETURNED_=CURRENT_

TouchOffset=(wearflex+wearfix-TouchDiff)*SG_ClosingAxDir

計(jì)算偏差值

SG_ClosingAxDir=-1

TouchDiff=0執(zhí)行焊接時(shí)

Wearflex彎曲磨損

Wearfix電極磨損

改變補(bǔ)償焊接點(diǎn)的外部軸E1

SWITCHSG_ExtaxActiveSG_ExtaxActive=1

Case1

RETURNED_=CURRENT_+TouchOffset

Case2

RETURNED_=CURRENT_+TouchOffset

Case3

RETURNED_=CURRENT_+TouchOffset

Case4

RETURNED_=CURRENT_+TouchOffset

Case5

RETURNED_=CURRENT_+TouchOffset

Case6

RETURNED_=CURRENT_+TouchOffset

ENDSWITCH

RETURN(RETURNED_POS)反饋返回坐標(biāo)值

ENDFCT;

GLOBALDEFFCTE6POSSGL_CALC_TCP_POS(touchDiff:IN,wearFix:IN)

計(jì)算補(bǔ)償值touchDiff=0,wearFix電極磨損

SGL_CALC_TCP_START_POS

REALtouchDiff,wearFix

E6POSRETURN_HELPFRAME

DECLSG_DIRECTIONTYP_TrealDirectio

RETURN_HELPFRAME=$NULLFRAME坐標(biāo)清0

realDirection=ServoGun[SG_ActiveGunNumber].GunDirection

GunDirection#PX--槍移動(dòng)方向

IF((FDAT__FRAME==#TCP)ANDSG_RevFixedGunDirection)THEN

--------------FDAT__FRAME=#BASE所以此IF語(yǔ)句暫時(shí)不執(zhí)行-------

realDirection=SG_RevToolDirection(ServoGun[SG_ActiveGunNumber].GunDirection)

ENDIF

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

SWITCHrealDirectionrealDirection=#PX

CASE#NX

RETURN_=-wearFix+touchDiff

CASE#NY

RETURN_=-wearFix+touchDiff

CASE#NZ

RETURN_=-wearFix+touchDiff

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

RETURN_=wearFix-touchDiff直接用磨損值來(lái)補(bǔ)償X方向

CASE#PY

RETURN_=wearFix-touchDiff

CASE#PZ

RETURN_=wearFix-touchDiff

ENDSWITCH

RETURN(RETURN_HELPFRAME)

ENDFCT