4.7. Panel thickness abnormality detection during the servo gun welding

4.7. Panel thickness abnormality detection during the servo gun welding

 

This detects any problem in line with parts or any missing material by measuring the panel thickness when carrying out the servo gun welding. As shown below, it can be carried out simply by adding the “ThickCheck” command. When there is any problem with the panel thickness will be decided by checking whether the measured value is within the normal range.

 

 

 

n MEA

Designates the variable for storing the panel thickness measured by squeezing the servo gun.

 

n REF

Designates the normal panel thickness.

 

n TOL

Designate the allowable deviation.

 

n Branch line(optional)

Designates the handling method when a problem is detected with the panel thickness. If a branch line is not recorded, “E1492 Measured panel thickness is out of the normal range”, causing the robot to stop, and the output signal set in “Panel thickness abnormal” will be turned on. If a branch line is recorded, “E0152 Measured panel thickness is out of the normal range”, will be generated and jumping to a branch line will take place while the robot continue to work”. In this case, output signals set in “Panel thickness abnormal” will be turned on only for 200ms.

 

 

Caution) For accurate measurement of the panel, the following actions should be taken first.

                        i.        Gun search (precise management of the moving and fixed tips)

                       ii.        Gun arm bending setting (setting of the gun arm bending per squeeze force)

                      iii.       Panel thickness setting (setting of the panel thickness per squeeze force)