Download STARTUP HANDBOOK

„ #2 Mesh Gears to Insert (HS-E/-G series)
Mesh gears to insert under compliance control, making use of the current limit function.
Description
Using the current limit function of the vertical axis allows the robot to mesh a gear with the
target gear (fixed) while pressing and rotating the gear (to be mounted) under compliance
control. During the mesh-and-insert operation, the robot monitors the current position of the
vertical axis to stop the rotation when the axis reaches the insertion completion position.
The insertion completion position can be specified at an arbitrary point.
This function is applicable not only to gears but also other parts to be mated during
assembly operations.
Gear to be mounted
(movable)
Target gear (fixed)
Program Samples
Initial input parameters (Variables to be used)
F1
Insertion OK position (Z-axis coordinate value) [Input required]
'!TITLE "Mesh Gears to Insert (HS-E/-G series)"
PROGRAM Sample
TAKEARM
APPROACH P,P1,@0 50,S=10
ST_SetZBalance
ST_SetEralw 3,30
ST_SetCurLmt 3,20
MOVE L,@0 P1,S=10
judge%=0
IF POSZ(CURPOS)>=F1 THEN
'Move to a position above the target point
'Gravity compensation for Z- and T-axes
'Set the allowable deviation for Z-axis
'Start current limit for Z-axis
'Move the tool end to the gears meshing position
'Initialize the gear meshing flag
'Check whether the axis reaches the insertion
'completion position
judge%=1
'Gears not meshed (judge=1)
SPEED 5
'Rotation speed 5%
ROTATEH 30,NEXT
'Rotate by 30 degrees (NEXT option)
'----- Parallel processing with ROTATEH motion ------------------------flg%=0
'Initialize the flag
DO
IF POSZ(CURPOS)<= F1 THEN 'Check whether the axis reaches the insertion
'completion position
CALL MotionSkip
'Skip intermediate operations [use library]
judge%=0
'Gears meshed (judge=0)
EXIT DO
'Forcibly exit from DO...LOOP
ENDIF
CALL MotionComp(flg%)
'Check the completion of ROTATE command [library]
LOOP UNTIL flg%=1
'Repeat DO...LOOP until the operation completes
'-------------------------------------------------------------------ENDIF
ST_ResetZBalance
'Release gravity compensation for Z- and T-axes
ST_ResetEralw 3
'Release the allowable deviation setting for Z-axis
ST_ResetCurLmt 3
'Release the current limit for Z-axis
CALL HAND_OPEN
'Unchuck the hand [User program]
DEPART L,50,S=100
'Move Z-axis upward
IF judge%=1 THEN
'If meshing failed,
PRINTMSG "Mesh failed",2,"Error"
'Display the message on the teach pendant
ENDIF
MOVE L,@0 P5,S=100
'Return to the home position
END
Library
MotionSkip and MotionComp
App. 4-2