KUKA電伺服機器人焊點地位賠償示意圖:
GLOBALDEFInitialize(TEACH_POS:INcont:IN)初始化
初始化示教地位
DECLE6PosTEACH_POS
DECLSG_Cont_Tcont
CONTINUE
$ADVANCE=3
SG_ExtaxActive=ServoGun[SG_ActiveGunNumber].ExtAxNumber
SG_ActiveWeldTimer=ServoGun[SG_ActiveGunNumber].WeldTimerIndex
bckupSetSG_AxVal()
–取得以后面的內部軸速率加速度—迫近$跟提早運轉$RED_VEL
SGE_InitErrorHandler()
IF(ServoGun[SG_ActiveGunNumber].ExtAxNumber0)then
SGA_SensorReset()
ENDIF
;------初始化面-----------
P_Part=SGL_CALC_POS(TEACH_POSServoGun[SG_ActiveGunNumber].TipCorrection0)----取得焊接面地位
P_Approx=P_Part地位轉移/傳輸
P_Forcelim=P_Part地位轉移/傳輸
P_Pressure=P_Part
P_Weld=P_Part焊接地位
P_Ret=P_Part
SG_SpotHelper=P_Part
SG_PartPos=SGL_GET_AXIS_VALUE(TEACH_POS);力形式下能夠的極板打仗地位
END;
GLOBALDEFFCTE6POSSGL_CALC_POS(CURRENT_POS:INTipCorrection:INTouchDiff:IN)
TouchDiff=0履行焊接時
CURRENT_POS=TEACH_POS
TipCorrection=ServoGun[SG_ActiveGunNumber].TipCorrection=true電極校訂
SGL_CALC_START_POS
分揀機器人應用了哪些技術REALTouchDiffwearflexwearfixTouchOffset
E6POSCURRENT_POSRETURNED_POS
BOOLTipCorrection
IF(TipCorrection)THENTipCorrection=true電極校訂
wearflex=SG_WearFlex[SG_ActiveGunNumber]+SG_TipSeating_mm[SG_ActiveGunNumber]
wearflex蜿蜒磨損量由銑削后丈量出來SG_TipSeating_mm[1]電極坐值
wearfix=SG_WearFix[SG_ActiveGunNumber]+(SG_TipSeating_mm[SG_ActiveGunNumber]/2)
wearfix磨損修復由銑削后丈量出來
ELSE---不利用校訂
快遞分揀機器人品牌wearflex=0.0
wearfix=0.0
ENDIF
X標的目的的賠償轉變坐標–利用BASE坐標
SG_Helpframe=SGL_CALC_TCP_POS(TouchDiffwearfix)---計較地位值
RETURNED_POS=CURRENT_POS:SG_Helpframe-----賠償值X標的目的的坐標
轉移內部軸跟ST坐標值用來不激活內部軸時
RETURNED_=CURRENT_
RETURNED_=CURRENT_
RETURNED_=CURRENT_
RETURNED_=CURRENT_
RETURNED_=CURRENT_
RETURNED_=CURRENT_
RETURNED_=CURRENT_
RETURNED_=CURRENT_
TouchOffset=(wearflex+wearfix-TouchDiff)*SG_ClosingAxDir
計較誤差值
SG_ClosingAxDir=-1
TouchDiff=0履行焊接時
Wearflex蜿蜒磨損
Wearfix電極磨損
轉變賠償焊接面的內部軸E1
SWITCHSG_ExtaxActiveSG_ExtaxActive=1
Case1
RETURNED_=CURRENT_+TouchOffset
Case2
RETURNED_=CURRENT_+TouchOffset
Case3
RETURNED_=CURRENT_+TouchOffset
Case4
RETURNED_=CURRENT_+TouchOffset
Case5
RETURNED_=CURRENT_+TouchOffset
Case6
RETURNED_=CURRENT_+TouchOffset
ENDSWITCH
RETURN(RETURNED_POS)反應前往坐標值
ENDFCT;
GLOBALDEFFCTE6POSSGL_CALC_TCP_POS(touchDiff:INwearFix:IN)
計較賠償值touchDiff=0wearFix電極磨損
SGL_CALC_TCP_START_POS
REALtouchDiffwearFix
E6POSRETURN_HELPFRAME
DECLSG_DIRECTIONTYP_TrealDirectio
RETURN_HELPFRAME=$NULLFRAME坐標渾0
realDirection=ServoGun[SG_ActiveGunNumber].GunDirection
GunDirection#PX--槍挪動標的目的
IF((FDAT__FRAME==#TCP)ANDSG_RevFixedGunDirection)THEN
--------------FDAT__FRAME=#BASE以是此IF語句臨時沒有履行-------
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----------本次機器人履行的賠償數據touchDiff=0
RETURN_=wearFix-touchDiff間接用磨損值來賠償X標的目的
CASE#PY
蜘蛛手分揀機器人價格RETURN_=wearFix-touchDiff
CASE#PZ
RETURN_=wearFix-touchDiff
ENDSWITCH
RETURN(RETURN_HELPFRAME)
ENDFCT
自動分揀機器人發展的現狀機械手與蜘蛛手分揀機器人價格快遞自動分揀機器人視頻菜鳥快遞分揀機器人