10.5.1.25. RHemming
10.5.1.25. RHemming
Explanation | Sets variables for the roller hemming squeeze control function and turns on or off the relevant function. | ||
Syntax | RHemming ON, Fd=_,K=_,V=_,TOL_W=_,TOL_E=_,CTRL=_ RHemming OFF | ||
Parameter | Fd | Desired squeeze [kgf] or [N] | - |
K | Control gain | Default : K=4 | |
V | Max. speed limit [mm/s] | Default : V=10 | |
TOL_W | Warning generation tolerance [kgf] or [N] | A warning will occur when the squeeze exceeds Fd-TOL_W ~ Fd+TOL_W (In auto mode) ※A parameter to be used in real time when controlling the squeeze while the robot is moving. Not to be used when the teaching point is changed. | |
TOL_E | Error generation tolerance [kgf] or [N] | An error will occur when the squeeze exceeds Fd-TOL_E ~ Fd+TOL_E (In auto mode) ※A parameter to be used in real time when controlling the squeeze while the robot is moving. Not to be used when the teaching point is changed. | |
CTRL | Squeeze control function On or Off (1: On, 0: Off) | Needs to be changed to CTRL=0 in order to not perform squeeze control while the robot is moving after the teaching point is changed. | |
Example | RHemming ON, Fd=10,K=4,V=10,TOL_W=2,TOL_E=5,CTRL=0 |
l Control the robot along the Z axis of the tool coordinate to allow the user’s set hemming squeeze to be applied.
l Can monitor whether squeeze or relevant functions are activated through the robot T/P and G/P.
l A warning or an error will be generated when the user’s set range is exceeded during the hemming.
l Can select the squeeze unit between [kgf] and [N].
l Can set the robot’s maximum moving distance along the Z axis of the tool coordinate.
l Load cell that is supported: 8532-6005 with In-Line Amp (Manufactured by burster)
l In order to use this function, set the function as “Enable” in 『System』→『Application parameter』→『Roller hemming squeeze control』→『Function use』.
l Check whether the load cell attached to the tool is “8532-6005” with an amp’
l Before using this function, it is necessary to initialize the sensors while there is no contact with the outside.