移動焊鉗到使用力

GLOBALDEF SGM_MOVE_TO_FORCE (FORCE :IN, MovementType:IN, GunClosingReason:IN, SGEQ_ParamSet:IN, SGRS_ParamSet:IN )

力值的給入圖:

聲明變量:

DECL SG_MoveType_TMovementType

DECL ForceMovementType_TGunClosingReason

DECL SGEQg_POINT_T SGEQ_ParamSet

DECLREAL FORCE, SPEED, factor, SavedExValue

DECLINT HANDLE

DECL SGRSg_POINT_T SGRS_ParamSet

聲明結(jié)束

進(jìn)入程序

SG_LogbookCurrent.TargetForce = FORCE

factor = 1.0

IF(SGEQ_ActivePointCond)THEN SGEQ_ActivePointCond=false

說明一下的IF語句里暫時沒有使用

SGEQ_ExpectedTime =SGEQ_TimeExpectedHelper(SGEQ_ParamSet)

SGEQ_SpeedProz = SGEQ_CalcSpeedAndTimes(SGEQ_ExpectedTime)

SPEED = SGEQ_SpeedProz

SGEQ_CurrentParamSet = SGEQ_ParamSet

IF NOT SGEQ_ContactMode THEN

SGEQ_INIT(SGEQ_ParamSet,SGEQ_ExpectedTime)

ENDIF

IF(ServoGun[SG_ActiveGunNumber].GunControl == #Position)THEN

TRIGGERWHENDISTANCE= 1 DELAY= 0 DO SGEQ_Start(SGEQ_CurrentParamSet,SGEQ_ExpectedTime)Prio=-1

ELSE

SavedExValue = SGL_GET_AXIS_VALUE(P_APPROX)

P_APPROX = SGEQ_StartPoint

SGL_SET_AXIS_VALUE(P_APPROX, SavedExValue)

ENDIF

SGL_MoveToPos(SGEQ_StartPoint,SGEQ_StartPoint,#CLS_OPEN,MovementType)

ENDIF

-----------------endif--------------

IF MovementType == #SG_PTP THEN 移動方式是PTP

BAS (#ACC_PTP,100 ) 使用 ACC加速度100%

BAS (#VEL_PTP,100 ) 使用 VEL速度100%

$APO.CPTP=1 使用接近距離

IF(SGEQ_ActivePointCond)THEN SGEQ_ActivePointCond=false

說明一下的IF語句里暫時沒有使用

$VEL_EXTAX[SG_ExtaxActive]= SPEED * factor

IF(ServoGun[SG_ActiveGunNumber].GunControl == #Force)THEN

TRIGGERWHENDISTANCE= 1 DELAY= 0 DO SGEQ_Start(SGEQ_CurrentParamSet,SGEQ_ExpectedTime)Prio=-1

ENDIF

ELSE

IF(GunClosingReason == #SingleWear)THEN

factor = SG_SingleWearSpeedF

$VEL_EXTAX[SG_ExtaxActive]= SG_ConstSpeed * factor

ELSE

$VEL_EXTAX[SG_ExtaxActive]= 100

ENDIF

ENDIF

-------------end-------------------------

---------------if-----------------

IF(GunClosingReason == #Init)THEN

焊接時GunClosingReason =#WELD 測量時GunClosingReason == #Init

PTP P_APPROX C_PTP

ELSE

PTP P_APPROX C_PTP

ENDIF

----------end------------------

$VEL_EXTAX[SG_ExtaxActive]=SG_ConstSpeed * factor

-----提前運(yùn)行中外部軸的軸速度-----

-----SG_ConstSpeed 之前在更換電極時算得速度------------

IF(ServoGun[SG_ActiveGunNumber].GunControl == #Position)THEN

ServoGun[1]=#Position

ACTIVATE_FORCE_MODE((6+SG_ExtaxActive), FORCE, SGL_CalcPartPos(SG_CurrentCmd),0)

----使用力功能進(jìn)行移動--------給入焊接控制器給的力值進(jìn)行力的移動-------

ENDIF

IF(ServoGun[SG_ActiveGunNumber].GunControl == #Force)THEN

由于ServoGun[1]= #Position所以不執(zhí)行力模式

ACTIVATE_FORCE_MODE((6+SG_ExtaxActive), FORCE, SGL_CalcPartPos(SG_CurrentCmd),SGEQ_AFM_ConstSpeedUser)

ENDIF

PTP P_PART C_PTP 在有力的情況下執(zhí)行點(diǎn)到點(diǎn)的位置P_PART

P_PART補(bǔ)償之后的力的值

C_PTP帶軌跡逼近-提前執(zhí)行

TRIGGERWHENDISTANCE=0 DELAY=0 DO SGM_VELEXAXFULL()PRIO=-1

提前觸發(fā)激活 外部軸速度$VEL_EXTAX[1]=100

$APO.CDIS激活逼近范圍

PTP P_WELD與ACTIVATE_FORCE_MODE()函數(shù)和$VEL_EXTAX[1]一起使用實(shí)現(xiàn)力的控制

PTP P_WELD 執(zhí)行焊接軌跡點(diǎn)

ENDIF