TOUCHSENSINGSimilartoTorchmateintheoryofoperation,theTouchSensingoptionistoroboticallyweld . 2-DIMENSIONALSHIFT1. ,在该部件上示教实际的焊接程序,并进行相关的设置。TrainingpartwithfilletweldindicatedForthistrainingexample,,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。 Inactualpractice,theproductionpartusedforteachingtheprogramwouldberepresentativeoftheideal,perfectpartmadeinproduction,,,. Threedifferent,touchsensing-related,setupswillbeperformed:A. SetupTouchFrame该步操作是为了确定寻缝时的坐标系及方向。1) ,Y,,item6Setup,F1-Type,0-Nextpage,: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。SFTLINE0TOUCH\FRAME\SETUP\\\\\\\\\\\\JOINT\\10\%1/7FrameNumber:\7ReferenceGrp:1(Note:ReferenceGrpwillDirectEntry:be1inallweldcellsRotateaboutX::-RotateaboutZ:;thenthisvaluewillbeTeachMethod:2,3,4,or5fortherespectiveOrigin:UNINITleadergroup.)+Xdirection:UNINIT +Ydirection:UNINIT[TYPE][RECORD]DONE2) CurserwillbeonFramenumber;keypadindesiredframenumber,,jogtherobotsothatthewiretipisaboveanycornerofthepart,similartoasshownbe
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