數(shù)控切割分揀機(jī)器人食物分揀機(jī)器人

媒介:

點(diǎn)焊機(jī)器人是群眾尺度中最常利用的基準(zhǔn)工藝節(jié)制它波及到焊接節(jié)制軌跡賠償節(jié)制銑削夾緊節(jié)制電極丈量節(jié)制.另有虛構(gòu)軸軟件節(jié)制上面我會(huì)一一道來.

基礎(chǔ)知識(shí):

機(jī)器人利用氣伺服焊鉗要實(shí)現(xiàn)的事情:焊接改換電極帽銑削開關(guān)水站RIP

點(diǎn)焊使命應(yīng)正在車輛坐標(biāo)系中編程。

關(guān)于WPS機(jī)器人，電極與帶有新E形帽的金屬板之間的距離必需為3mm，入射角必需為90度。SZ正在關(guān)閉時(shí)不得滑動(dòng)，正在焊接時(shí)不得惹起分流。

焊接面的坐標(biāo)必需經(jīng)由過程示教功用肯定。

降壓時(shí)不克不及利用示教功用。啟齒尺寸的計(jì)算方法以下：尺度啟齒尺寸SZ+板材厚度+凸臺(tái)高度。

關(guān)于帶有賠償體系的焊槍，賠償值以二進(jìn)制情勢(shì)傳輸?shù)胶笜專冶匦枵诿恳粋€(gè)焊接面停止編程。夾緊賠償?shù)闹祽?yīng)如許肯定，使流動(dòng)電極陡峭天放在組件上。夾具賠償?shù)闹翟谟趭A具的類型跟焊槍正在焊接面的地位。

BIN2~焊鉗EZ1/SP1均衡缸節(jié)制:

硬件設(shè)備的組態(tài):

VASS06的FESTO伺服焊鉗的收集設(shè)置:

輸入旌旗燈號(hào)

E705GunReady準(zhǔn)備就緒E706Energysavingison節(jié)能開E707Releaseregulatorisoff開釋調(diào)劑關(guān)閉E708withforce帶壓力E709HandshakebitTCPOK握手TCP位OKE710E711Teachpositionvalid無效地位值E712Controlmanual手動(dòng)節(jié)制E713Controlautomatic自動(dòng)控制E714Gunisreferenced焊鉗正在參考點(diǎn)E715Positioningactive地位激活E716Actualpositonvalid實(shí)際的地位值E717Gunopened焊鉗翻開E718Forcereached夾緊壓力達(dá)到E719Equalizerisback均衡氣缸前往E720E721ActualvalueE-Forcev1*100N實(shí)際焊接壓力E722ActualvalueE-Forcev2*100NE723ActualvalueE-Forcev4*100NE724ActualvalueE-Forcev8*100NE725ActualvalueE-Forcev16*100NE726ActualvalueE-Forcev32*100NE727ActualvalueE-Forcev64*100NE728ActualvalueE-Forcev128*100NE729OffsetfixedE-Arm1*0.1mm焊槍磨損偏移量E730OffsetfixedE-Arm2*0.1mmE731OffsetfixedE-Arm4*0.1mmE732OffsetfixedE-Arm8*0.1mmE733OffsetfixedE-Arm16*0.1mmE734OffsetfixedE-Arm32*0.1mmE735OffsetfixedE-Arm64*0.1mmE736OffsetfixedE-Arm128*0.1mmE737Actualpositionv1*0.1mm實(shí)際地位值E738Actualpositionv2*0.1mmE739Actualpositionv4*0.1mmE740Actualpositionv8*0.1mmE741Actualpositionv16*0.1mmE742Actualpositionv32*0.1mmE743Actualpositionv64*0.1mmE744Actualpositionv128*0.1mmE745Actualpositionv256*0.1mmE746Actualpositionv512*0.1mmE747Actualpositionv1024*0.1mmE748Actualpositionv2048*0.1mmE749Actualpositionv4096*0.1mmE750Actualpositionv8192*0.1mmE751Actualpositionv16384*0.1mmE752ActualpositionsignE753LifebitguncontrollerE754E755CapchangeOK改換電極帽實(shí)現(xiàn)E756E757Endofmeasuring丈量完畢E758E759MillingOK修磨OKE760E761Invalidguncode有效的焊鉗代碼EE765E766Devicecodev1設(shè)備碼V1E767Devicecodev2設(shè)備碼V2E768Devicecodev4設(shè)備碼V4E769Prewarninggun焊槍預(yù)警E770Warminglubricationrequired加油要求正告E771Reachingforcetaketoolong壓力達(dá)到超時(shí)E772Wrongprogram/forcefromrobi機(jī)械毛病的順序/力值E773Targetpositioninvalid方針地位有效E774component/platethicknessfail板材厚度毛病E775Gunmovingtightly焊鉗挪動(dòng)流動(dòng)E776MillingnoOK修磨已實(shí)現(xiàn)E777Failurecapabrasion修磨電極帽毛病E778Errorcaps/geometry電極帽毛病E779Positioningdeviation地位誤差E780Errorequalizer均衡缸毛病E781Errorcontrol/regulator節(jié)制/調(diào)劑毛病E782Errortemperaturetransformer變壓器溫度毛病E783Errorpressurelow壓力太低E784Commonerror平凡毛病

輸出旌旗燈號(hào)

延邊四軸分揀機(jī)器人A705Errorreset毛病復(fù)位A706Energysavingon節(jié)能形式翻開A707Releaseregulatoroff開釋調(diào)劑關(guān)閉A708Withoutforce不帶壓力A709WithTCPcorrection帶TCP批改A710Startlearningteachposition起頭示教地位A711Takeoverteachposition接管示教地位A712Robotmanual機(jī)器人手動(dòng)A713Robotautomatic機(jī)器人自動(dòng)A714Reference尋參A715Releasepositioning定位使能A716Setpositionvalid定位設(shè)定無效A717Opengun開槍A718Closegun關(guān)槍A719Gunjogopen點(diǎn)動(dòng)開槍A720Gunjogclose點(diǎn)動(dòng)關(guān)槍A721SetvalueE-Forcev1*100N設(shè)置焊接壓力值A(chǔ)722SetvalueE-Forcev2*100NA723SetvalueE-Forcev4*100NA724SetvalueE-Forcev8*100NA725SetvalueE-Forcev16*100NA726SetvalueE-Forcev32*100NA727SetvalueE-Forcev64*100NA728SetvalueE-Forcev128*100NA729Equalizerpressurev1均衡缸壓力設(shè)定A730Equalizerpressurev2A731Equalizerpressurev4A732Equalizerpressurev8A733Equalizerpressurev16A734Equalizerpressurev32A735Equalizerpressurev64A736Equalizerpressurev128A737Setpositionv1*0.1mm地位設(shè)定A738Setpositionv2*0.1mmA739Setpositionv4*0.1mmA740Setpositionv8*0.1mmA741Setpositionv16*0.1mmA742Setpositionv32*0.1mmA743Setpositionv64*0.1mmA744Setpositionv128*0.1mmA745Setpositionv256*0.1mmA746Setpositionv512*0.1mmA747Setpositionv1024*0.1mmA748Setpositionv2048*0.1mmA749Setpositionv4096*0.1mmA750Setpositionv8192*0.1mmA751Setpositionv16384*0.1mmA752Setpositionsign地位設(shè)定符號(hào)A753LifebitRobot機(jī)器人通信無效A754CompensationRobot機(jī)器人賠償A755Capchanged改換電極帽milling打磨前丈量A757Meas.aftermilling打磨后丈量A758Startmillingdone初次修磨后實(shí)現(xiàn)A759Normalmillingdone進(jìn)程修磨后實(shí)現(xiàn)A760Testwithoutcomponet無工件測(cè)試A761Guncode1焊槍代碼1A762Guncode2焊槍代碼2A763Guncode4焊槍代碼4A764Guncodespare備用焊槍號(hào)碼A765診斷功用AA769ProgramW1順序號(hào)A770ProgramW2順序號(hào)A771ProgramW4順序號(hào)A772ProgramW8順序號(hào)A773ProgramW16順序號(hào)A774ProgramW32順序號(hào)A775ProgramW64順序號(hào)A776ProgramW128順序號(hào)A777Vehicletypev1類型號(hào)A778Vehicletypev2類型號(hào)A779Vehicletypev4類型號(hào)A780Vehicletypev8類型號(hào)A781Vehicletypev16類型號(hào)A782Vehicletypev32類型號(hào)A783Vehicletypev64類型號(hào)A784Vehicletypev128類型號(hào)

正在分派焊鉗的IO地點(diǎn)是E/A737à752

VASS06的版本:

-20161019.xml

停用US2診斷并正在設(shè)備上顯現(xiàn)白色毛病LED

分揀機(jī)器人教案

利用SMC的水氣站RIP-SMC

RIP1的IO區(qū)域:513-520

E513K1水流量及格A513KYP01AE開水

京東物流agv分揀機(jī)器人

E514BV01WMIN水流量低位檢測(cè)

分揀機(jī)器人怎么充電

E515BV01WMAX水流量高位檢測(cè)A515KYP01AA關(guān)水

E516BD01ND高壓氣及格

GSDML--SMC-EX245--20130730.xml

FESTO的RIP設(shè)置:

食品分揀機(jī)器人怎么選

利用BOSCH焊接控制器:

E785Weldcomplete焊接實(shí)現(xiàn)E786Tipdressrequest以后修磨要求E787Tipdresscounterreset修磨次數(shù)清零、復(fù)位E788Starttipdressrequest初次修磨E789Tipdressingnecessary有兩把槍，一把須要修磨的時(shí)間E790Withtipdressingseleted已取舍修磨E791Tipchangingprewarning電極壽命報(bào)警E792Weldon(withweldingcuttent)起頭焊接E793Targetelectrodeforcevalency1電極壓力目標(biāo)值E794Targetelectrodeforcevalency2E795Targetelectrodeforcevalency4E796Targetelectrodeforcevalency8E797Targetelectrodeforcevalency16E798Targetelectrodeforcevalency32E799Targetelectrodeforcevalency64E800Targetelectrodeforcevalency128E801Endofstepper完畢熱量遞增E802Timerready控制器籌備好E803Withmonitoring帶電流監(jiān)控E804WeldOK焊接實(shí)現(xiàn)E805WeldnoOK焊接已實(shí)現(xiàn)E806Warninglimitconsecutivelyviolated接連九點(diǎn)偏離中央公役帶E807Proportionalvalvepressurereached閥的壓力到達(dá)要求E808Differentialcurrentmonitoringtripped電流監(jiān)控E809Phasemonitoring相位監(jiān)控E810Overcurrentonprimaryside初級(jí)線圈過流E811Currentsensorerror電流傳感器毛病E812Voltagesensorerror電壓傳感器毛病E813Overcurrent24VDC24V過載E814InverterOvertemperature變壓器溫度太高E815Spotselectionerror焊點(diǎn)取舍毛病E816Protocolwriteerror紀(jì)錄毛病E817Reserviert預(yù)留A785Start焊接起頭A786Tipshavebeendressed電極已修磨A787Electrodeshavebeenchanged電極已改換A788Resetfault平凡毛病復(fù)位A789ResetfaultwithWC控制器毛病復(fù)位A790Startrecordingprotocol起頭紀(jì)錄電流A791Functiontestwithoutcomponent無件測(cè)試A792Weldon(withweldingcurrent)焊接翻開，帶電流焊接A793feedbackelectrodeforcevalency1電極壓力反應(yīng)A794feedbackelectrodeforcevalency2A795feedbackelectrodeforcevalency4A796feedbackelectrodeforcevalency8A797feedbackelectrodeforcevalency16A798feedbackelectrodeforcevalency32A799feedbackelectrodeforcevalency64A800feedbackelectrodeforcevalency128A801Spotselectionvalency1焊點(diǎn)取舍值A(chǔ)802Spotselectionvalency2A803Spotselectionvalency4A804Spotselectionvalency8A805Spotselectionvalency16A806Spotselectionvalency32A807Spotselectionvalency64A808Spotselectionvalency128A809Spotselectionvalency256A810Spotselectionvalency512A811Spotselectionvalency1024A812Spotselectionvalency2048A813Spotselectionvalency4096A814Spotselectionvalency8192A815Spotselectionvalency16384A816Spotselectionvalency32768A817Identvalency1車型取舍A818Identvalency2A819Identvalency4A820Identvalency8A821Identvalency16A822Identvalency32A823Identvalency64A824Identvalency128A825Reserviert預(yù)留

-Rexroth-PSS6000-20180924.xml

機(jī)器人節(jié)制邏輯圖:

利用的KRL語言的高等順序：

feh_usr_提醒機(jī)器人設(shè)備毛病:以水流量為主

可以正在每一個(gè)焊接面挪用該技巧包。經(jīng)由過程該挪用，一方面依據(jù)蓋的磨損將TCP且則更改為–X，另一方面依據(jù)參數(shù)P3“偏移”的值將TCP更改為–X。經(jīng)由過程參數(shù)P4“距離”，可以取舍指定正在面PLC處置懲罰之后正在輪回中履行的晉升值。如許可以去除之前利用過的組件上的磨痕

中央面或距離大于流動(dòng)E臂的3mm焊接面正在單步MSTEP形式下編程，無TCP移位且無參數(shù)4，是以可以搜檢或變動(dòng)流動(dòng)E臂的編程距離。正在單步GO操縱中，利用TCP移位跟參數(shù)4。

常用MAKRO的用法

智能物流分揀機(jī)器人結(jié)構(gòu)設(shè)計(jì)

Makro80焊接

Makro81維修地位/改換電極確認(rèn)

分揀機(jī)器人企業(yè)快遞分揀機(jī)器人應(yīng)用前景分揀機(jī)器人的好處