Touch sensing具体步骤.docVIP

TOUCH SENSING Similar to Torchmate in theory of operation, the Touch Sensing option is to robotically weld parts that do not have repeatable arc start positions. This instruction presents the fundamentals of the setup and teaching of a program to weld a part whose arc start point could change in two different directions. A. 2-DIMENSIONAL SHIFT 1. Position and secure a master part on a table. This is where the actual welding program will be taught and where the set up will be performed. 在桌面上安放一个标准部件，在该部件上示教实际的焊接程序，并进行相关的设置。 Training part with fillet weld indicated For this training example, the sample training part will be positioned on the table as shown. Simulated weld joint will be 45o from robot center. 作为培训用样本，我们将部件按如图所示角度（与机器人中心点成45o）安装在机器人工作台上。 In actual practice, the production part used for teaching the program would be representative of the ideal, perfect part made in production, while actual production parts may have weld joints that vary slightly. For this procedure to work correctly, it is assumed that the robot is set up correctly with an accurate tool center point. 准确的TCP是进行准确寻缝的前提， 在此我们使用以前已经做过的准确的TCP. 2. Three different, touch sensing - related, setups will be performed: A. Set up Touch Frame 该步操作是为了确定寻缝时的坐标系及方向。 1) This procedure requires the teaching of 3 points. The connecting of these points will then define an X, Y, and Z search direction which tells the robot precisely which direction to move the torch through space to allow the welding wire to make the desired contact with the part. Press the Menus key, item 6 Setup, F1-Type, 0- Next page, item 1 Touch Frame. 32 Touch Frames are available for use. The following screen will appear: 具体步骤就是在工件表面示教三个点，从而定义出x\y\z 坐标方向。 SFT LINE 0 TOUCH\FRAME\SETUP\\\\\\\\\\\\JOINT\\10\% 1/7 Frame Number: \7 Reference Grp: 1 (Note: Ref