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1、TOUCHSENSINGSimilartoTorchmateintheoryofoperation,theTouchSensingoptionistoroboticallyweldpartsthatdonothaverepeatablearcstartpositions.Thisinstructionpresentsthefundamentalsofthesetupandteachingofaprogramtoweldapartwhosearcstartpointcouldchangeintwodifferentdirections.A.2-DIMENSIONAL
2、SHIFT1.Positionandsecureamasterpartonatable.Thisiswheretheactualweldingprogramwillbetaughtandwherethesetupwillbeperformed.在桌面上安放一个标准部件，在该部件上示教实际的焊接程序，并进行相关的设置。TrainingpartwithfilletweldindicatedForthistrainingexample,thesampletrainingpartwillbepositionedonthetableasshown.Simulatedweld
3、jointwillbe45ofromrobotcenter.作为培训用样本，我们将部件按如图所示角度（与机器人中心点成45o）安装在机器人工作台上。Inactualpractice,theproductionpartusedforteachingtheprogramwouldberepresentativeoftheideal,perfectpartmadeinproduction,whileactualproductionpartsmayhaveweldjointsthatvaryslightly.a.Forthisproceduretoworkcorrectl
4、y,itisassumedthattherobotissetupcorrectlywithanaccuratetoolcenterpoint.准确的TCP是进行准确寻缝的前提，在此我们使用以前已经做过的准确的TCP.172.Threedifferent,touchsensing-related,setupswillbeperformed:A.SetupTouchFrame该步操作是为了确定寻缝时的坐标系及方向。1)Thisprocedurerequirestheteachingof3points.Theconnectingofthesepointswillthen
5、defineanX,Y,andZsearchdirectionwhichtellstherobotpreciselywhichdirectiontomovethetorchthroughspacetoallowtheweldingwiretomakethedesiredcontactwiththepart.PresstheMenuskey,item6Setup,F1-Type,0-Nextpage,item1TouchFrame.32TouchFramesareavailableforuse.Thefollowingscreenwillappear:具体步骤就是在
6、工件表面示教三个点，从而定义出xyz坐标方向。SFTLINE0TOUCHFRAMESETUP\\\\\\JOINT\10%1/7FrameNumber:7ReferenceGrp:1(Note:ReferenceGrpwillDirectEntry:be1inallweldcellsRotateaboutX:0.000exceptthosewithmultipleRotateaboutY:0.000motiongroupsusedwithaux-RotateaboutZ:0.000iliaryaxisandcoordinatedmotio
7、n;thenthisvaluewillbeTeachMethod:2,3,4,or5fortherespectiveOrigin:UNINITleadergroup.)+Xdirection:UNINIT+Ydirection:UNINIT[TYPE][RECORD]DONE2)CurserwillbeonFramenumber;keypadindesiredframenumber,pressEnter.CurserdowntoOriginline.Withrobotindesiredcoordinatesystem,jogtherobotsothatthewir
8、etipi
