Function lecture: contact jump function

Contact jump function, ie Touch Skip Function. This function is an option function, unlike the Skip Condition command in the standard function. The Skip Condition command in the standard function sets a condition during programming. When this condition is met during robot motion, it will immediately jump to other lines of the program. The Touch Skip Function is used to monitor the disturbance torque of any number of axes. When the disturbance of any axis exceeds the set threshold, a high-speed jump is performed. With this function, it is possible to avoid collision alarms when the robot interferes with the position to maintain the continuity of the movement.

When the Touch Skip function is set, the “SETUP/TOUCH SKIP” screen will be displayed; when using this function, the contact jump subroutine can be called.

Note: When using the Touch Skip function, the system variable $MISC_MSTR.$HPD_ENB must be TRUE (default is FALSE); if $MISC_MSTR.$HPD_ENB is not TRUE, set to TRUE and restart.

● Output a value in "Sch.No." to change the number of the condition

● For each axis disturbance, set maximum, minimum and enable/disable

In the settings in the above figure, the maximum disturbance of the J4 axis is 3.50 [A], and the maximum disturbance of the J5 axis is 3.00 [A]. That is to say, when the disturbance torque of the robot J4 axis reaches 3.50A during the movement, the Touch Skip condition is triggered, so that a program jump occurs, jumps to a certain line of the subsequent program, and the current motion instruction is aborted.

Enter the STATUS-AXIS-DISTURBANCE interface to observe the disturbance status (as shown below). Observe the maximum or minimum value of the disturbance torque of each axis during the movement of the robot, and use it as a reference to set the THUCH SKIP interface to set the appropriate maximum or minimum disturbance value (ie threshold).

In the TP program, the use of Touch Skip can refer to the following example:

1: CALL SETSKCOL (1,1);

2: CALL CLSKP_G1;

3: LP[1] 20mm/sec FINE;

4: LP[2] 20mm/sec FINE Skip, LBL[1], PR[1]=LPOS;

5: MESSAGE[TOUCH] ;

6: END;

7: LBL[1] ;

8: MESSAGE[NO TOUCH] ;

9: END;

Among them, the parameter of the subroutine SETSKCOL means that the condition number [1] is set for the disturbance threshold of each axis in the group 1; the subroutine CLSKP_G1 contains the jump condition of "the disturbance of any axis on the group [1] exceeds the threshold" . The motion with the high-speed jump instruction in the fourth line of the program, when the SKIP condition is triggered, executes the next line (line 5) and stores the current position in PR[1]. When the jump condition is not satisfied, the jump is performed to the label LBL[1], and the seventh line is executed. For example, during the fourth line of the program, the robot has contact with the peripheral device, and the J4 axis disturbance torque value reaches the upper limit, and the robot will not complete the motion command of the fourth line to realize the contact jump.

After using this function, in the environment where interference may exist, the collision between the robot and the peripheral device can be effectively avoided, the purpose of protecting the robot and the peripheral device is achieved, and the production safety is ensured.