【Question 1】 How do I set the parameters when using a Kawasaki robot as a servo welding gun?
【answer】
On the teach pendant, open Auxiliary - Spot Welding - Servo Gun Setting - Gun Number, as shown in Figure 1.
Figure 1
For the gap, if the welding torch stroke is greater than 35mm, set both parameters to 10.0mm; if it is less than 35mm, set them to 5.0mm. Pressure: set to 0.980KN during teaching and 0.98KN during wear testing.
Set the +Z direction of the tool to "off", select "off" for all E-series control cabinets, and match the gun's "off" direction.
The pressing speed is set to 10 mm/s; the gap is 10 mm/s on both the movable and stationary sides before pressing; the gap is 10 mm/s on both the movable and stationary sides after pressing.
Servo welding torch pressure waiting time: An alarm will sound if the welding torch does not open within 10ms during welding.
Gun tip contact signal: A signal emitted during welding that can be used to prevent the welding gun from failing to weld.
The pressure applied during grinding is 0.98 kN, which is the pressure applied when repairing a mold with a welding torch.
Pressure application time during grinding: Generally, 1-1.2 seconds is sufficient when applying pressure during mold repair.
Maximum pressure limit: maxelectricforce 4.000KN (according to the parameter table).
[Question 2] What are the key points for setting servo driver parameters?
【answer】
Step 1: Set the electronic gear ratio, control mode, and pulse generation mode.
Step 2: Adjust servo stiffness (adjust in the automatic tuning function mode; the moment of inertia must be correctly calculated before adjusting the stiffness).
Step 3: After adjustment, run the machine at normal speed 2-4 times. If the adjustment is not effective, return to step 2. If it is OK, exit and you are done.
Step 4: If you still can't get the desired effect after 6-8 attempts, enter manual adjustment mode (set the automatic tuning function to disabled mode).
Step 5: Adjust the speed loop and position loop parameters.
[Question 3] How does Yaskawa servo set the mechanical stiffness during online auto-tuning?
【answer】
If a mechanical stiffness setting is selected, the servo gain (speed loop gain, speed loop integral time parameter, position loop gain, torque command filter time parameter) is automatically determined. The factory default mechanical stiffness setting is "4". Additionally, the speed loop corresponds to both PI control and IP control. PI/IP control switching: PI control is enabled when user parameter Pn10B.1=0, and IP control is enabled when Pn10B.1=1. However, for this switching to take effect, the power must be restarted after setting the user parameters. Furthermore, after powering on, it is essential to perform the mechanical stiffness setting again. When setting the mechanical stiffness after changing the position loop gain (Pn102), a value close to the set position loop gain is displayed as the initial mechanical stiffness value.
[Question 4] What signals does the ABB robot's XS7 I/O connector mainly connect to?
【answer】
XS7 refers to the connector on the robot control cabinet side, and the corresponding customer terminal connector is the XP7 terminal, as detailed below:
Terminals 1-8: These correspond to terminals 1-8 of XS7, i.e., the output signals do1-do8 of DSQC652;
Terminals 9 and 10: These correspond to terminals 9 and 10 on XS7. Terminal 9 is connected to 0V, and terminal 10 is connected to 24V.
Terminals 11-18: These correspond to terminals 11-18 of the XS7, which are the output signals of do9-do16 of the DSQC652.
Terminals 19-20: These correspond to terminals 19 and 20 of XS7, as they are already shorted to terminals 9 and 10 internally.
Terminals 21-28: These correspond to terminals 21-28 of the XS7, which are the input signals di1-di8 of the DSQC652.
Terminals 29 and 30: These correspond to terminals 29 and 30 on XS7. Terminal 29 is connected to 0V, and terminal 30 is empty.
Terminals 31-38: These correspond to terminals 31-38 of the XS7, which are the input signals di9-di16 of the DSQC652.
Terminals 39-40: These correspond to terminals 39 and 40 of XS7, as they are already shorted to terminal 29 internally.
[Question 5] What are the applications of machine vision ?
【answer】
The main applications of machine vision are in two areas: inspection and robot vision.
(1) Inspection: It can be further divided into high-precision quantitative inspection (e.g., cell classification in micrographs, size and position measurement of mechanical parts) and qualitative or semi-quantitative inspection without measuring instruments (e.g., product appearance inspection, part identification and positioning on assembly line, defect detection and assembly completeness inspection).
(2) Robot vision: used to guide the robot's operations and actions over a large area, such as picking up workpieces from a jumbled pile of workpieces from a hopper and placing them in a certain orientation on a conveyor belt or other equipment (i.e., the hopper picking problem). For operations and actions over a small area, tactile sensing technology is also required.
Other technologies include: automated optical inspection, facial recognition, self-driving cars, product quality grading, automated inspection of printed materials, character recognition, texture recognition, and tracking and positioning.
[Question 6] How does ABB define WOBJ?
【answer】
Find a sharp point on the robot's wrist or gripper and define TCP. If no suitable sharp point is available, find a long, thin point and securely attach it to the robot's wrist or gripper, define TCP, and record the TCP value. Before defining WOBJ on the robot, load the dedicated program modules named Cal_Wt.mod and Calage.mod (Figure 2).
Figure 2
After the program is loaded, the T_Cal_Wobj1 subroutine is executed. Before executing the subroutine, the value of tool_t1 is updated to the previously defined cusp TCP (Figure 3).
Figure 3
Figure 4
Move the defined TCP to the first positioning reference point of the fixture and MODIFY this point as p_mes1_wobj1. Simultaneously, MODIFY the second positioning reference point as p_mes2_wobj1 and the third positioning reference point as p_mes3_wobj1. At this point, it is only necessary to move to the positioning reference point and modify it; there is no need to execute the existing module's program statements. Move the cursor to DefWobjCAO… and change the values of points p_ref1_wobj1, pref2_wobj1, and pref3_wobj1 to the coordinate values of the corresponding positioning reference points (Figure 4).
