2.3. Roller hemmingsqueeze control setting sequence
2.3. Roller hemmingsqueeze control setting sequence
(1) Select ‘Enable’ for the function usage item at the screen of [『[F2]: System』 → 『4: Application Parameter』 → 『12: Roller Hemming Squeeze Control』 → 『Function Usage』]
Figure 2.1 Roller hemming squeeze control menu
Figure 2.2 Roller hemming squeeze control screen set as ‘Enable’
(2) It is required to check whether the load cells attached to the roller hemming tool is ‘8532-6005 with an amplifier’ manufactured by burster. It is required to select the same sensor at the screen of [『[F2]: System』→ 『4: Application Parameter』 → 『12: Roller Hemming Squeeze Control』→ 『Sensor Type』]
(3) In order to control the analogue output signal of the load cells, an analogue board (Arc board, BD584V30) is used. Required to check whether the load cell output is connected to the analogue input port 1. It is also required to set ‘1’ for the input port at the screen of [『[F2]: System』→ 『4: Application Parameter』 → 『12: Roller Hemming Squeeze Control』→ 『Port No.』].
(4) When the load cells are powered up and connected to the analogue input port of the controller, the squeeze information can be received from the controller. It is required to check whether there is any problem with the values displayed at T/P while changing the force that is applied onto the load cells.
(5) In order to control the squeeze, the robot will move in the z axis direction of the tool coordinate currently activated. That is why it is required to check whether the tool coordinates of individual rollers are defined correctly.
(6) As a last step, the sensor of a roller hemming tool needs to be initialized while having no contact with outside. For the initialization, it is required first to select [『[F1]: Service』 → 『1: Monitoring』 → 『22: Roller Hemming Data』] (when the roller hemming data monitoring window has focus), and then press the [F5: Initialize] to bring up a dialogue box. The sensor initialization screen will be displayed as below.
Figure 2.3 Load cell initialization screen
(7) In order to display the roller hemming squeeze on G/P(Graphic Panel) in real time, it needs to be defined as SW195 for the use (Unit: [N])
Figure 2.4 Setting sequence before using the function