KUKA电伺服机器人焊点位置补偿示意图:

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()

–获得当前点的外部轴速度加速度—逼近$和提前运行$RED_VEL

SGE_InitErrorHandler()

IF(ServoGun[SG_ActiveGunNumber].ExtAxNumber0)then

SGA_SensorReset()

ENDIF

;------初始化点-----------

P_Part=SGL_CALC_POS(TEACH_POS,ServoGun[SG_ActiveGunNumber].TipCorrection,0)----获得焊接点位置

P_Approx=P_Part位置转移/传输

P_Forcelim=P_Part位置转移/传输

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);力模式下可能的极板接触位置

END;

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

TouchDiff=0执行焊接时

CURRENT_POS=TEACH_POS

TipCorrection=ServoGun[SG_ActiveGunNumber].TipCorrection=true电极校正

SGL_CALC_START_POS

REALTouchDiff,wearflex,wearfix,TouchOffset

E6POSCURRENT_POS,RETURNED_POS

BOOLTipCorrection

IF(TipCorrection)THENTipCorrection=true电极校正

wearflex=SG_WearFlex[SG_ActiveGunNumber]+SG_TipSeating_mm[SG_ActiveGunNumber]

wearflex弯曲磨损量由铣削后测量出来,SG_TipSeating_mm[1]电极坐值

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

wearfix磨损修复由铣削后测量出来

ELSE---没有使用校正

wearflex=0.0

wearfix=0.0

ENDIF

X方向的补偿改变坐标–使用BASE坐标

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

RETURNED_POS=CURRENT_POS:SG_Helpframe-----补偿值X方向的坐标

转移外部轴和S,T坐标值,用来没有激活外部轴时

RETURNED_=CURRENT_

RETURNED_=CURRENT_

RETURNED_=CURRENT_

RETURNED_=CURRENT_

RETURNED_=CURRENT_

RETURNED_=CURRENT_

RETURNED_=CURRENT_

RETURNED_=CURRENT_

TouchOffset=(wearflex+wearfix-TouchDiff)*SG_ClosingAxDir

计算偏差值

SG_ClosingAxDir=-1

TouchDiff=0执行焊接时

Wearflex弯曲磨损

Wearfix电极磨损

改变补偿焊接点的外部轴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)反馈返回坐标值

ENDFCT;

GLOBALDEFFCTE6POSSGL_CALC_TCP_POS(touchDiff:IN,wearFix:IN)

计算补偿值touchDiff=0,wearFix电极磨损

SGL_CALC_TCP_START_POS

REALtouchDiff,wearFix

E6POSRETURN_HELPFRAME

DECLSG_DIRECTIONTYP_TrealDirectio

RETURN_HELPFRAME=$NULLFRAME坐标清0

realDirection=ServoGun[SG_ActiveGunNumber].GunDirection

GunDirection#PX--枪移动方向

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

--------------FDAT__FRAME=#BASE所以此IF语句暂时不执行-------

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----------本次机器人执行的补偿数据touchDiff=0

RETURN_=wearFix-touchDiff直接用磨损值来补偿X方向

CASE#PY

RETURN_=wearFix-touchDiff

CASE#PZ

RETURN_=wearFix-touchDiff

ENDSWITCH

RETURN(RETURN_HELPFRAME)

ENDFCT