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2.4. Roller hemming squeeze control applying sequence

2.4. Roller hemming squeeze control applying sequence​

 

(1)   It is required to enter RHemming ON and RHemming OFF at the hemming start and end sections individually of the robot teaching program that is secured through OLP.

For example, the desired squeeze is 0.8KN and the tolerance values for a warning and an error are 0.2KN and 0.5KN individually, it is required to enter as shown below.

 

RHemming ON, Fd=0.8,K=4,V=10,TOL_W=0.2,TOL_E=0.5,CTRL=1

 

※ K=4, V=10 need to be entered as initial values. If vibration occurs, it is recommended to lower the K and V values.

 

(2)   While the function is activated, the squeeze control can be performed through manual operation in a way that desired squeezes can be applied onto individual teaching points. It is required to check by monitoring whether desired squeezes are reached and perform “position correction”.

 

(3)   Carry out hemming operation after completing the ‘position correction’ for all the teaching points.

 

(4)   Through the monitoring function, it is required to check whether the quality of the squeeze, applied while the robot is moving, is satisfactory.

 

(5)   If the quality is not satisfactory, it is required to change to CTRL=0  in the RHemming command. This is for turning off the squeeze function while the robot is moving.