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SOFTWARE

KR C...

Function Generator

System Tech (KSS) 5.1

Funktionsgenerator KSS5.1 08.02.00 en

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e Copyright

KUKA Roboter GmbH

This documentation or excerpts therefrom may not be reproduced or disclosed to third parties without the express permission of the publishers. Other functions not described in this documentation may be operable in the controller. The user has no claim to these functions, however, in the case of a replacement or service work. We have checked the content of this documentation for conformity with the hardware and software described. Nevertheless, discrepancies cannot be precluded, for which reason we are not able to guarantee total conformity. The information in this documentation is checked on a regular basis, however, and necessary corrections will be incorporated in subsequent editions. Subject to technical alterations without an effect on the function.

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Contents 1

Characteristics, functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5

1.1

Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5

1.2 1.2.1 1.2.2 1.2.3 1.2.4

Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Basic principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Function definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Correction direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The correction coordinate system TTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6 6 6 7 7

1.3

Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8

2

Programming, parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9

2.1 2.1.1 2.1.2 2.1.3 2.1.4 2.1.5 2.1.6 2.1.7 2.1.8 2.1.9 2.1.10 2.1.11

Structure variables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . $TECH[i], $TECH_C[i], i=1,...,6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . $TECHIN[i], i = 1,...,6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . $TECHPAR[i, j], i=1,...,6 , j=1,...,10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . $TECHPAR_C[i, j], i = 1,...,6 , j=1,...,10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . $TECHVAL[i], i = 1,...,6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . $TECHSYS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . $TECHSYS_C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . $TECHANGLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . $TECHANGLE_C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . $TSYS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . $DISTANCE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9 9 14 14 14 15 15 15 15 15 15 15

2.2 2.2.1 2.2.2 2.2.3 2.2.4

Analog sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Parameterization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Correction direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Changing technology mode, correction variable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17 17 17 18 19

2.3

Conveyor synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

20

2.4

Complex sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

23

3

Application examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25

3.1

Weaving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

25

3.2

Analog sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

26

3.3

Conveyor synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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1

Characteristics, functional description

1

Characteristics, functional description

1.1

Characteristics The function generator included in the KRC software is easy to use and allows the user to implement the following functions: G

Mechanical weaving

G

Thermal weaving The function values can be used at KRC analog outputs to modulate the weld current and the wire feed rate.

G

Analog sensors

G

Conveyor synchronization

G

Coupling of intelligent sensors (META, SCOUT, ...).

The following diagram illustrates mechanical and thermal weaving using the function generator. Mechanical weaving Taking the example of a weld application

Weave amplitude

Thermal weaving

Length (1 period)

Weld voltage (volts) Max. voltage

Torch

Component plane

Min. voltage

Weave plane

Weld direction Wire feed

Max. feed Min. feed

Weld direction

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Function Generator

1.2

Functional description

1.2.1

Basic principle The user defines a function which is evaluated accordingly by the system and processed further. The input values of the function (distance, velocity, etc.), and also the further processing of the results of the function (output to an analog channel, path correction, etc.), can be selected and configured using variables.

1.2.2

Function definition G

The required function y(x) is defined in the interval [0,1] as a polygon.

G

The polygon is defined unambiguously by entering function control points.

G

A maximum of 50 control points (x,y) is permissible. They must be selected as follows: --

x is a real number from the interval [0,1]

--

y is a real number from the interval [--1,1] For control points 1 to max. 50, the following must be observed: x1 < x2 < ... (is not equal to) #NONE, then the calculated function values refer to the programmed coordinate system. This variable can be modified in the program and is block--specific.

2.1.7

$TECHSYS_C This variable is used for programming the TTS in the main run. The coordinate systems #WORLD, #BASE, #ROBROOT, #TCP and #TTS can be programmed. If GEOREF < > (is not equal to) #NONE, then the calculated function values refer to the programmed coordinate system. This variable can be modified using Trigger, Interrupt or the variable modification function and the changes take effect immediately.

2.1.8

$TECHANGLE Used for programming the rotation of the TTS in the advance run. The rotation is specified in RPY angles. This variable can be modified in the program and is block--specific.

2.1.9

$TECHANGLE_C Used for programming the rotation of the TTS in the main run. The rotation is specified in RPY angles. The variable can be modified using Trigger, Interrupt or the variable modification function and the changes take effect immediately.

2.1.10

$TSYS For each interpolation cycle, this system variable contains the current TTS – insofar as there is one available – with reference to the base coordinate system. This variable is of type FRAME and cannot be modified.

2.1.11

$DISTANCE This variable allows path--related function evaluation. During program execution, it represents the current arc length of a Cartesian motion in millimeters. $DISTANCE is set to zero at the start of an individual CP block or at the start of the CP motion in a PTP/CP approximate positioning motion. This variable is of type REAL and cannot be modified.

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2

2.2

Analog sensors

2.2.1

Interface

Programming, parameterization (continued)

The system variables $TECHIN[i] (i = 1 .. 6) form the interface between the sensor inputs and the function generator. These variables are written to cyclically using the following statements and serve as the input variable for the function generator. Analog input: SIGNAL CORRECTION $ANIN[1] ANIN ON $TECHIN[2] = FACTOR * CORRECTION + OFFSET Digital input: Entry in “$MACHINE.DAT” SIGNAL $DIGIN1 $IN[20] TO $IN[27] DECL DIGINCODE $DIGIN1CODE=#UNSIGNED DIGIN ON $TECHIN[3] = FACTOR * $DIGIN1 + OFFSET

2.2.2

Parameterization Elements of the array variable $TECHPAR[i,j] are used for parameterization and for outputting function generator states. Technology class SENSOR ($TECH[i].CLASS = #SENSOR) causes the function generator to use the variable $TECHIN[i] and thus the sensor signal as the input variable. For function generator class #SENSOR, the function definition describes a controller characteristic as illustrated in the following diagram. Correction velocity [mm/s] or [degrees/s]

Y Controller characteristic (0,1)

(1,1)

SCALE_OUT

OFFSET_IN (1,0)

(0,0)

(0,--1)

X

(1,--1) Technology mode #CYCLE

OFFSET_OUT

SCALE_IN

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Function Generator If the definition range “SCALE_IN” is exceeded, the corresponding limit value is maintained. For function generator class “#SENSOR”, the function generator calculates a correction velocity (mm/s or degrees/s) from the input values. This correction velocity is used to calculate a correction value (mm, degrees) which is added up in every interpolation cycle (sensor correction, initial value 0.0). With corresponding parameterization, the correction velocity is 0 (zero) and the sensor correction value remains constant in the balanced state. The correction velocity is smoothed before the correction value is calculated in order to avoid abrupt corrections. This smoothing can be set using $TECHPAR[i,1]. If the filter $TECHPAR[i,1] is set to less than the duration of an interpolation cycle, the unfiltered velocity value is used for calculating the correction.

2.2.3

Correction direction The correction direction is defined, as is usual for the function generator, by means of the variables $TECHSYS, $TECHANGLE and GEOREF. Using the components #A, #B, and #C of the ENUM variable GEOREF, it is also possible to carry out an orientation correction to the corresponding angles. G

#A:

Rotation of the X axis of the tool about the Z axis of the tool--based technological system in the mathematically positive direction.

G

#B:

Rotation of the X axis of the tool about the Y axis of the tool--based technological system in the mathematically positive direction.

G

#C:

Rotation of the X axis of the tool about the X axis of the tool--based technological system in the mathematically positive direction.

Since the tool--based technological system changes its position when following a contour, the correction increase in the direction/orientation defined by GEOREF and calculated in the interpolation cycle is converted to the corresponding BASE components (dx, dy, dz or da, db, dc).

Z BASE

Y TSYS

Y BASE

X TSYS

ds dx

Z TSYS dz dy

GEOREF X BASE

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2

Programming, parameterization (continued)

The correction increase in the BASE components is added up (dX, dY, dZ or dA, dB, dC), included in the calculation of the TCP and can be accessed by the user via the TECHPAR variables. TECHPAR_C[i, TECHPAR_C[i, TECHPAR_C[i, TECHPAR_C[i, TECHPAR_C[i, TECHPAR_C[i,

3] 4] 5] 6] 7] 8]

: : : : : :

Correction Correction Correction Correction Correction Correction

value value value value value value

in in in in in in

X Y Z A B C

BASE BASE BASE BASE BASE BASE

(dX) (dY) (dZ) (dA) (dB) (dC)

In the case of a TCP correction (GEOREF = #X, #Y or #Z), the value of the correction vector in BASE (unit = mm) is written to the output variable of the function generator ($TECHVAL[i]) and can then be used, with the aid of two interrupt declarations, for monitoring the sensor correction. INTERRUPT DECL 1 WHEN $TECHVAL[1] > 20.0 DO UPPER_LIMIT() INTERRUPT DECL 2 WHEN $TECHVAL[1] < --20.0 DO LOWER_LIMIT() In the case of an orientation correction (GEOREF = #A, #B or #C), the value is calculated using the correction angle in BASE (dA, dB, dC) and transferred to TECHVAL[i]. $TECHVAL[i] = SQRT(dA2 + dB2 + dC2)

All correction values that are made available to the user are interpolator command values and are not filtered, i.e. there is no reference to actual values.

2.2.4

Changing technology mode, correction variable Switching the technology mode from #CYCLE to #SINGLE has the effect that the input variable $TECHIN[i] is no longer evaluated. The correction velocity is set to zero internally in the system thus keeping the established sensor correction vector constant. When an exact positioning point is reached, the correction variable is retained and is used for the subsequent CP motion. This applies also for the transition to the following block when a CP approximation contour is executed. Block selection, program reset and interrupt commands followed by the RESUME statement cause the start values of the motion block to be initialized and the correction value is lost. The sensor offset is set to 0 in the function generator. No sensor offset is permissible in the case of a PTP motion. If there is a correction value present, the acknowledgement message “DEVIATION IN THE START POINT” is generated. The instruction $TECH[i].MODE=#OFF triggers an advance run stop, deactivates the functionality of the sensors, sets the sensor offset to 0 and continues the motion from the current point in space.

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Function Generator

2.3

Conveyor synchronization The system variables $TECHIN[i] (i = 1 .. 6) form the interface between the sensor inputs and the conveyor functionality. Data are written to these variables cyclically using the following statements: Analog input: SIGNAL CONVEYORVEL $ANIN[1] ANIN ON $TECHIN[2] = FACTOR * CONVEYORVEL + OFFSET Digital input: Entry in “$MACHINE.DAT” SIGNAL $DIGIN1 $IN[20] TO $IN[28] DECL DIGINCODE $DIGIN1CODE=#UNSIGNED DIGIN ON $TECHIN[3] = FACTOR * $DIGIN1 + OFFSET Elements of the array variable $TECHPAR[i,j] are used for parameterization and for outputting function generator states as described below. Two conveyor modes are possible. The robot tracks the conveyor in the case of translational or rotational motions of the part to be processed, e.g. with a conveyor belt or turntable. The coordinate system in which tracking motions are possible is defined by means of the first six TECHPAR variables of the next function generator. If, for example, function generator 1 has been configured for the conveyor function, $TECHPAR[2,1] to $TECHPAR[2,6] contain the tracking coordinate system (X, Y, Z, A, B, C) with reference to $WORLD. Function generator 2 should not be used for any other purpose in this case.

The TECH variable “GEOREF” defines the correction direction in this coordinate system. The parameters #X, #Y and #Z define a translational correction in the corresponding direction. For rotational tracking, the parameters #A, #B and #C of the “GEOREF” variable are used: #A --> about Z, #B --> about Y, #C --> about X. In the case of translational conveyor mode, it is of vital importance to ensure that the tracking direction corresponds to the direction of motion of the conveyor belt. In the case of rotational motions of the part, the correction axis must be located at the center of rotation, for example: GEOREF=#A where the Z axis of the conveyor (Z Conv.) is the rotational axis and the direction of rotation is mathematically positive.

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2

Programming, parameterization (continued)

If the following is selected GEOREF=#NONE the tracking distance is calculated and is available to the user via the variable $TECHVAL[i] The robot does not carry out tracking, however. The conveyor function is defined by means of the technology class CONVEYOR ( $TECH[i].CLASS = #CONVEYOR) and activated with technology mode “CYCLE”. The parameter $TECHPAR[i,8] defines whether the variable $TECHIN[i] refers to a velocity value or a distance. $TECHPAR[i,8]=0 ----> $TECHIN[i] refers to a velocity $TECHPAR[i,8]=1 ----> $TECHIN[i] refers to a distance In the case of a conveyor synchronization with an “absolute” position sensing system, $TECHPAR[i,8] must be set to 1. Example: The synchronization switch enables the counting mode. At the end of the tracking operation, a digital output in the KRC ensures that the counter is set to 0 and that the enabling of the counting mode is withdrawn. The 16--bit values are scaled to [mm] using the FACTOR in the DIGIN statement. Synchronization switch X Conv.

P2

P3

Conveyor P1

P4 Z Conv.

Incremental encoder

Direction of motion

Pulse

Start counter

Direction of rotation

Robot

Reset counter (digital output)

Counter

(enable) 16 bits

KR C2

Strobe (digital output)

16 digital inputs Start signal (digital input)

DIGIN ON $TECHIN[i]=FACTOR*$DIGIN1+OFFSET

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Function Generator If the parameter $TECHPAR[i,8] is set to 0, the tracking distance is calculated on the basis of the conveyor velocity which is assigned cyclically to $TECHIN[i] by means of an ANIN or DIGIN statement. Make sure that $TECHIN[i] contains the conveyor velocity value in mm/s or degrees/s. This is done by means of the factor in the ANIN/DIGIN statement. The system variable $TECHVAL[i] contains the absolute tracking distance in mm or degrees. This variable can be used to monitor the maximum permissible tracking distance, e.g. INTERRUPT DECL 1 WHEN $TECHVAL[i] > 2000.0 DO STOP_TRACK() The robot tracking motion is started by means of a synchronization signal which the conveyor system sends to the robot controller when the part enters the robot’s processing area. This synchronization input (user input) is transferred to the system via the variable $TECHPAR[i,7]. The program interpreter is stopped by means of a “WAIT FOR $TECHVAL[i]>0.05” statement once the conveyor synchronization has been activated. The conveyor functionality is activated as soon as the technology mode is switched to CYCLE and the technology class CONVEYOR is selected. Once the robot has detected the synchronization signal it leaves its starting position and starts tracking and processing. For this kind of start from the rest position with the conveyor already running (so--called “flying start”), special precautions (smoothing) must be taken in order to ensure a “smooth”, but nonetheless sufficiently rapid, synchronization of the robot motion with the conveyor motion. The corresponding parameters are set using elements of $TECHPAR[i,j]: G

“Distance gain” $TECHPAR[i,1] in [1/s],

G

“Velocity gain” $TECHPAR[i,2] in [1/s].

The following error between the conveyor and the robot caused by the smoothing and the system run times can be compensated for by the user by means of $TECHPAR[i,3] (rate time in s). As the function generator (interpolator) is not called during pauses between motions, no exact positioning motion should be programmed at any point in the tracking operation.

A programmed point can be reached exactly by setting the approximation radius to 0 (zero). If it is necessary for there to be pauses between robot motions, this can be achieved by setting the override to zero at the corresponding point in the program (TRIGGER in approximation zero block). The instruction $TECH[i].MODE=#OFF triggers an advance run stop, deactivates the conveyor functionality, sets the tracking distance to 0 and continues the motion from the current point in space.

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2

2.4

Programming, parameterization (continued)

Complex sensors Using an add--on controller task (sensor task), it is possible to couple an “intelligent” sensor to the controller and correct the robot motion in Cartesian space ($TECH[i].CLASS = #DATALINK).

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3

Application examples

3.1

Weaving

Application examples

Example DECL

TECH

WEAVE1, WEAVE2

WEAVE1.MODE

= #CYCLE

WEAVE1.FCTCTRL.SCALE_IN

= 2

WEAVE1.FCTCTRL.OFFSET_IN = 0 WEAVE1.FCTCTRL.SCALE_OUT = 3 WEAVE1.FCTCTRL.OFFSET_OUT = 0

WEAVE1.CLASS = #PATH WEAVE1.FCTCTRL.GEOREF = #Y WEAVE1.FCT.ORDER = 1 TECHANGLE.C = 10

; Declare variables of type TECH ; Cartesian weaving is a cyclical ; function. ; Wavelength of the weave oscillation is ; 2 mm. ; Start of deflection is start of CP path. ; Weave amplitude is 3 mm. ; Focus of the weave oscillation is ; on the path: ; If amplitude = 0, path is followed without ; weaving. ; Argument of the weave pattern is the ; arc length, i.e. SCALE_IN the ; wavelength. ; Direction of the weave deflection in the Y ; direction in the TTS ; Create weave pattern from polygon using ; pairs of values in the function table. ; Rotate TTS

; User--defined WEAVE1 is ready for assignment to the technology structure $TECH[1] ; Prepare FCTCTRL section of the structure WEAVE2 for structure ; assignment using TRIGGER command! WEAVE2.MODE

= #CYCLE

WEAVE2.FCTCTRL.SCALE_IN

= 4

WEAVE2.FCTCTRL.OFFSET_IN = 0 WEAVE2.FCTCTRL.SCALE_OUT = 3 WEAVE2.FCTCTRL.OFFSET_OUT = 0

; Cartesian weaving is a cyclical ; function. ; Wavelength of the weave oscillation is ; 4 mm. ; Start of deflection at start of CP path. ; Weave amplitude is 3 mm. ; Focus of the weave oscillation is ; the path.

$TECH[1] = WEAVE1

; Weaving from next CP block onwards.

PTP X1 LIN L1

; PTP blocks always without weaving. ; Weaving with values of the structure ; WEAVE1.

$TECH[1].FCTCTRL.GEOREF = #Z LIN L2 C_DIS

; Weaving in the Z direction, i.e. perpendicular ; to the plane of the panels to be welded, ; from the start of this block onwards.

TRIGGER WHEN DISTANCE=1 DELAY=0 DO $TECH_C[1].FCTCTRL = WEAVE2.FCTCTRL LIN L3 C_DIS ; From the center of the intermediate ; block of the approximate positioning, ; weaving with new wavelength 4 mm. LIN L4 $TECH[1].MODE = #OFF LIN L5

; This motion block without weaving

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Function Generator

3.2

Analog sensor Example Using a distance sensor, a correction is to be made in the Z direction of the TTS. Calibration is carried out using the offset variables. The maximum value for the correction vector should be +/-- 20 mm. The analog input delivers a voltage between --10 V and +10 V; this should be adjusted to 0 V. FACTOR = 0.1 OFFSET = 1.0 ; Sensor at analog input 2 SIGNAL CORRECTION $ANIN[2] ; Monitor sensor correction value INTERRUPT DECL 1 WHEN $TECHVAL[1] > 20.0 DO UPPER_LIMIT() INTERRUPT DECL 2 WHEN $TECHVAL[1] < -20.0 DO LOWER_LIMIT() ; Activate cyclical reading of the analog input and ; scaling of $TECHIN[1] to 0.0 - 2.0 ANIN ON $TECHIN[1] = FACTOR * CORRECTION + OFFSET ; Define correction direction $TECHSYS = #TTS $TECH[1].FCTCTRL.GEOREF = #Z

; Correction in Z direction

; Sensor correction using the function generator $TECH[1].CLASS = #SENSOR $TECH[1].FCTCTRL.SCALE_IN = 2.0 ; $TECH[1].FCTCTRL.OFFSET_IN = 0.0 ; $TECH[1].FCTCTRL.SCALE_OUT = 20.0; $TECH[1].FCTCTRL.OFFSET_OUT = 0.0; $TECH[1].FCT.ORDER = 1 ; $TECH[1].FCT.CPNUM = 3 ; $TECH[1].FCT.CPS1.X1 = 0.0 ; $TECH[1].FCT.CPS1.Y1 = -1.0 ; $TECH[1].FCT.CPS1.X2 = 0.5 ; $TECH[1].FCT.CPS1.Y2 = 0.0 ; $TECH[1].FCT.CPS1.X3 = 1.0 ; $TECH[1].FCT.CPS1.Y3 = 1.0 ; $TECHPAR[1,1] = 0.056 ;

Definition of control parameters ” ” ” ” ” ” ” ” ” ” ” Smoothing constant in s

PTP BEFORE_PART INTERRUPT ON 1 INTERRUPT ON 2 ; Activate sensor correction TECH[1].MODE = #CYCLE LIN P1 C_DIS LIN P2 C_DIS LIN P3 ; Deactivate sensor correction TECH[1].MODE = #OFF LIN_REL {X 0.0}

; Zero block for accepting advance run data ; in the main run data --> Deactivation of ; the function generator

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3.3

Application examples (continued)

Conveyor synchronization Example Synchronization switch P2

X Conv.

P3

Conveyor P1

P4 Z Conv.

Velocity measuring system Direction of motion

KR C1

Robot

Digital input Analog input

A workpiece on a conveyor belt is moved past a robot. The velocity measuring system delivers a voltage of 10.0 V in the case of a maximum conveyor velocity of 0.08 m/s. The voltage range of the analog input is 0 V to 10.0 V. FACTOR = 80 OFFSET = 0.0 ; Number of the user input to which the synchronization switch is attached SYNCH_NO = 5 ; Velocity measuring system at analog input 2 SIGNAL CONVEYORVEL $ANIN[2] ; Monitor tracking distance INTERRUPT DECL 1 WHEN $TECHVAL[1] > 2000.0 DO STOP_TRACK() ; Define conveyor coordinate system relative to WORLD, Z axis points in ; direction of motion of the conveyor $TECHPAR[2,1] = ... ; X Conv. $TECHPAR[2,2] = ... ; Y Conv. $TECHPAR[2,3] = ... ; Z Conv. $TECHPAR[2,4] = ... ; A Conv. $TECHPAR[2,5] = ... ; B Conv. $TECHPAR[2,6] = ... ; C Conv. ; Activate cyclical reading of the analog input ANIN ON $TECHIN[1] = FACTOR * CONVEYORVEL + OFFSET

Funktionsgenerator KSS5.1 08.02.00 en

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Function Generator ; Conveyor synchronization using the function generator $TECH[1].CLASS = #CONVEYOR ; Tracking direction is the Z axis of the conveyor coordinate system $TECH[1].FCTCTRL.GEOREF = #Z ; Define control parameters $TECHPAR[1,1] = 0.6 $TECHPAR[1,2] = 0.7 $TECHPAR[1,3] = 0.084 $TECHPAR[1,7] = SYNCH_NO $TECHPAR[1,8] = 0

; “Distance gain” in 1/s ; “Velocity gain” in 1/s ; Rate time in s ; Synchronization input ; $TECHIN[i] corresponds to a ; velocity value ; (measuring sensor is a tachometer)

PTP WAIT_POS INTERRUPT ON 1 ; Activate conveyor synchronization TECH[1].MODE = #CYCLE LIN_REL {X 0.0}

; Wait for the synchronization signal WAIT FOR $TECHVAL[1]>0.05

; Zero block for accepting advance run data ; in the main run data --> Activation of ; conveyor functionality ; Wait until the system has ; detected the synchronization signal ; --> $TECHVAL “grows”

; Process workpiece LIN P1 C_DIS LIN P2 C_DIS LIN P3 C_DIS LIN P4 C_DIS LIN AWAY_FROM_BELT ; Deactivate robot tracking TECH[1].MODE = #OFF LIN_REL {X 0.0}

; Zero block for accepting advance run data ; in the main run data --> Deactivation of ; the function generator

; Deactivate cyclical analog input ANIN OFF CONVEYORVEL

1

Funktionsgenerator KSS5.1 08.02.00 en

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Index

Symbols

C Configuration, 8 Control points, 6 Conveyor synchronization, 20 Correction coordinate system, 7 Correction coordinate system TTS, 7 Correction direction, 7 Correction value, 18 Correction velocity, 18 CYCLE, 21

#CYCLE, 19 #SENSOR, 17, 18 #SINGLE, 19 $ANIN[1], 17, 20 $DIGIN1, 17 $DISTANCE, 15 $MACHINE.DAT, 17, 20 $TECH[i]. MODE, 9 $TECH[i].CLASS, 17 $TECH[i].CLASS , 10

D

$TECH[i].FCT, 14

DIGIN statement, 21

$TECH[i].FCTCTRL , 11 $TECH[i].MODE, 19, 22

F

$TECH[i], $TECH_C[i], 9

Function definition, 6 Functional description, 6

$TECH_C[i]. MODE, 9 $TECH_C[i].CLASS , 10 $TECH_C[i].FCT, 14

G

$TECH_C[i].FCTCTRL, 11

GEOREF, 7, 18, 20

$TECH_MAX, 8 $TECHANGLE, 7, 15 $TECHANGLE_C, 15

M Mechanical weaving, 5

$TECHIN[i], 14, 17, 19, 20 $TECHPAR, 17, 20, 22 $TECHPAR[i, j], 14

O OFFSET_OUT, 15

$TECHPAR[i,1, 18 $TECHPAR[i,1], 18 $TECHPAR[i,j], 20

P Parameterization, 9 Programming, 9

$TECHPAR_C[i, j], 14 $TECHSYS, 7, 15, 18 $TECHSYS_C, 15 $TECHVAL[i], 15, 19, 21

R Reaching a programmed point, 22 RESUME, 19

$TSYS, 15

S

A Analog sensors, 17

B BASE, 19

SCALE_OUT, 15 Sensor correction value, 18 Sensor offset, 19 SIGNAL $DIGIN1, 17 SIGNAL CORRECTION, 17 Structure variables, 9

Index -- i

Index

T TCP correction, 19 TECHPAR variables, 20 TECHVAL[i], 19 Thermal weaving, 5 Tool--based technological system, 7 Tool--based technological system (TTS), 7, 15 TTS, 7

W WAIT FOR $TECHVAL[i], 22

Index -- ii

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