KUKA robot electric servo welding clamp force establishment process V2.28

KUKA configuration of servo-electric welding guns, using software plug-in "SERVOGUN.B"

Driver diagram:

X-type welding tongs

C-type welding tongs

Commonly used KUKA robot control variables:

Soldering points :

PTP VB=100% VE=0% ACC=100% RobWzg=1 Base=1 SPSTrig=5[1/100s]P track point

…..

2: SERVOZANGE 1 Schweissen Progmnummer= 99 Punktnummer=5154 FahrzeugTyp= 60 Offset= 1[1/10mm] achIn= Auto Ausgleich= MITTELBedingung=EIN

…

VW_SGB_CONFIG_SPOT_CHECK(1,#EQUALIZING) -- Check if the balancing type is correct

VW_SGB_SPOT_V(TRUE,#SG_PTP,P10,1,99,5154,60,1,TRUE,0,ServoGun[1].CompType,#MEDIUM,0,0,0) performs welding controller communication in advance

PTPP10 execution track points

$ADVANCE=3

VW_SGB_SPOT_MAIN(TRUE,#SG_PTP,P10,1,99,5154,60,1,TRUE,0,ServoGun[1].CompType,#MEDIUM,0,0,0) performs clamp welding function

TRIGGER WHEN DISTANCE=1 DELAY=-50 DOSPS_TRIG(12) PRIO=-1 Execute SPS program

PTP P10 execution track point

KUKA robot control force function:

ACTIVATE_FORCE_MODE((6+SG_ExtaxActive), FORCE, SGL_CalcPartPos(SG_CurrentCmd),SGEQ_AFM_ConstSpeedUser)

The process of establishing force:

TeachIn= Auto: Teaching

• Auto : Uses the workpiece thickness determined by the teach-in process.

• Manual : The workpiece thickness must be specified inline

Ausgleich = MITTEL Balance Control

OFF : No balance control

SCHWACH weak: For soft workpieces that can be bent by more than 3 mm even with low forces (hand force) .

MITTEL Medium: Suitable for bending medium-sized workpieces of 1-3 mm with very little force (manual force) .

STARK strong: For hard workpieces that only bend under strong force (cannot be bent by hand).

INDIVIDUELL Individually: The value can be adjusted on a case-by-case basis. For this purpose, additional fields are displayed.

Communication connection force input point of the robot's welding controller

SG_Force_WT_S[1]=793 start byte

SG_Force_WT_E[1]=800 end byte

SG_GunForce = SG_PointForces[1] transfers force value

Feed the working force value into the system function ' ACTIVATE_FORCE_MODE ' to realize force control

ACTIVATE_FORCE_MODE ( AXIS_NO , TARGET_FORCE , PART_POSITION , CONST_SPEED_USER )

Syntax

Element Description

AXIS_NR Type: INT Transmission type: IN Parameter Axis number 1 ... MAX_AXIS

TARGET_FORCEType : INT , Unit: NTransmission type: INParameter target force

PART_POSITION Type: REAL Transmission type: IN Parameter Position of the component in mm or ° relative to the output - position of the clamp closed with force

CONST_SPEED_USER Type: REAL Transmission type: IN Parameter The reduced constant speed relative to the output in mm/s or ° /s

Programming Examples

DEF SPOT ()

Calculate part thickness plus part tolerance

EG_CONTACT_DIST = EG_WELD_TOL_N[EG_EXTAX_ACTIVE]-EG_THICKNESS

; Opening force control

ACTIVATE_FORCE_MODE (( 6 +EG_EXTAX_ACTIVE ), TARGET_FORCE , EG_CONTACT_DIST , EG_CONST_SPEED_USER )

$VEL_EXTAX[EG_EXTAX_ACTIVE] = CONST_SPEED External axis speed

PTPP_PART C_PTP

Notice

$FORCE[x] can be used to turn off force control and modify the target force only when force control is active.

Target forces enforced using ACTIVATE_FORCE_MODE () are activated in subsequent motion blocks.

If a separate constant speed is not needed, CONST_SPEED_USER can be set to 0.0 . In this case, the constant speed is calculated using the configuration parameters.

In KSS 8.3.12 and later, force control mode can no longer be activated using $FORCE[x]. ( 1 ) Correct programming of force control mode

Reviewing Editor: Li Qian