SERVOROBOT SCHEDULE SCREENS


SERVOROBOT SCHEDULE SCREENS

1.  SERVOROBOT SCHEDULE SCREEN

Table 1.  SERVO-ROBOT Schedule Screen Items

ITEM DESCRIPTION

Servo-Robot Schedule: [Comment]

This item identifies the sensor schedule and provides an area in which to add a comment for the schedule.

SR Track Joint Num

This item selects the joint to be detected for tracking from the Servo-Robot joint library.

Tracking Type

This item specifies the type of tracking that will be performed: STANDARD tracking or STATIONARY tracking. By default, tracking type is set to STANDARD. Stationary tracking refers to tracking an object that is being rotated by an extended axis. Currently, only STANDARD tracking is supported.

Motion Sensitivity

This item specifies how reactive the robot motion system will be to sensor data. A low value of motion sensitivity provides a slow motion response, large filtering buffer, and so forth.

High values for motion sensitivity might be potentially unstable, but are very reactive to sensor data.

A value of 1 is least sensitive, 5 is most sensitive. The default value is 3. Motion sensitivity determines the motion buffer distance and the number of consecutive failed scans allowed before the robot stops tracking.

Y Bias (Track)

This item adds an offset to the Y value of the found joint location in the sensor frame. This is used to obtain proper alignment of the welding wire to the joint.

Z-Bias (Track)

This item adds an offset to the Z value of the found joint location in the sensor frame. This is used to obtain proper location of the welding wire in the joint.

Stationary Track Frame

Stationary tracking is not currently available.

Tack Avoidance

Default: FALSE

This item allows you to specify whether the tack welding avoid function is enabled or disabled.

Tack Threshold

Default: 0 mm

Range: 0-100 mm

When Tack Avoidance is Disabled this is the maximum allowed distance for invalid sensor status before posting the error MIGE-027 “Can't detect joint continuously”. When Tack Avoidance is Enabled, this item will not be used. The threshold value is in units of millimeters.

Tack Length

Default: 0 mm

Range: 0-500 mm

Specify the maximum length of the tack-welded section in the direction of the weld line. If the detection of no position exceeds this length an alarm is raised to stop the program. The length value is in units of millimeters.

Joint End Detect

Enable or Disable the Dynamic Arc Off function

Start Distance (mm)

Specifies the weld distance when the Joint End Detection starts. This start distance should pass the last tack weld.

Detect DO Index

Specifies the DO index. The DO is automatically turned on when Dynamic Arc Off Function issues Arc End Command. This item will be effective if Joint End Detect is enabled.

Joint End OFS (mm)

This item allows specification of an offset to the found end joint location where the Arc is turned off automatically. This item will be effective if Joint End Detect is enabled.

SR Search Joint Num

This item selects the joint number from the Servo-Robot's joint library for searching purposes.

Search Type

Defines the type of searching. There are two kinds of search:
  • Position search calculates a "real position" in space to which the robot can move.

  • Offset search provides an incremental value that is used to offset positions in a program.

Detection Count

Specifies the number of joint detections to be executed per one Sensor Search Point instruction. The recommended detection count is 3.

Retry Count

Range: 0-5

Specifies the number of retry motions that will automatically be performed. If the value is 0 , the joint will only be searched in one location.

Retry Direction

Defines the direction that the robot will move if Retry Count is greater than zero and a search fails. The robot moves the amount indicated by Retry Distance and in the direction indicated by Retry Direction : x, -x, y, -y, z, -z in the sensor frame.

Retry Distance

Specifies the distance the sensor moves before the search is tried again. Distance must be greater than 0 to have motion occur. It is recommended that you use 3 mm for the Retry Distance .

Y-Bias (Search)

Adds an offset to the Y value of the found joint location in the sensor frame. This is used to obtain proper alignment of the welding wire to the joint.

Z-Bias (Search)

Adds an offset to the Z value of the found joint location in the sensor frame. This is used to obtain proper location of the welding wire in the joint.

Search Frame (Search)

Defines the searching frame. There are three frames:
  • UFRAME (User Frame)

  • SFRAME (Sensor Frame)

  • TFRAME (Tool Frame)

Dynamic Search (Search)

Enable or Disable the Dynamic Search Function

Search Dist (Search)

Specifies the maximum allowed Dynamic Search Distance in millimeters.

Search Spd (Search)

Specifies the Dynamic Search Speed in millimeters per second.