dependent auxiliary modules
M- Depth The seam pattern template "depth" is suitable for applications where only the distance measurement is needed to create an even surface This
5.13 Interfaces and associated parameters
5.13.1 Machine interface – analogue-digital correction
A/D correction This general "analogue-digital (A / D) correction interface" provides digital status signals and is controlled via digital input signals. The correction values for lateral and vertical deviation, Mismatch and gap width are output as analogue voltages (e.g. for controlling auxiliary axes).
Machine- dependent auxiliary modules
The machine interface "analogue-digital correction" only works with the auxiliary module "analogue-digital interface (ADF)." More information and the installation instructions can be found in sections 3.4.1 and 4.5.1.
NOTE!
Voltages are only output during automatic mode.
Digital inputs/outputs
The status of digital inputs and outputs is shown by fields (1). (As shown in Figure 113.)
• Check mark in box: Digital I/O high • No check mark: Digital I/O low
Analogue inputs/outputs
The "Analogue On/Off" field is divided into four analogue inputs (2) and 4 analogue outputs (3). In the "Analogue Out" field (3), four analogue outputs are displayed for each default voltage value. The four analogue inputs (2) are by default not operated.
Figure 113: THxDView – analogue-digital correction interface
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Corresponding process control
After the analogue-digital interface is properly selected, the parameters shown in Figure 114 are available for the process control. The user can check off which parameter should be sent as a voltage value to the controller. It is also possible to scale the parameter values and set an offset.
Figure 114: A/D interface – process control
Parameter description
Parameter Description
Filter width Mean value of the measured data for the specified number of images
∆x (scale, offset) Scaling factor for the output of the measured value on the gap between the laser lines; added to the measured value
∆y (scale, offset) Scaling factor for the output of the measured value on the position in lateral direction; added to the measured value
∆z (scale, offset) Scaling factor for the output of the measured value on the position in height; added to the measured value
A (scale, offset) Not used in this machine interface
B (scale, offset) Not used in this machine interface
C (scale, offset) Not used in this machine interface
C (left) (scale, offset) Not used in this machine interface
C (right) (scale, offset) Not used in this machine interface
Gap (scale, offset) Scaling factor for the output of the measured value on the gap width; added to the measured value
Mismatch (scale, offset) Scaling factor for the output of the measured value on the step height; added to the measured value
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5.13.2 Machine interface – Motoman reference path
Motoman reference path
This section explains how to use the "Motoman reference path" machine interface.
Figure 115: THxDView – Motoman reference path interface Machine-
dependent auxiliary module
The "Motoman reference path" machine interface only works with the auxiliary module "analogue-digital interface (ADF)." More information and the installation instructions can be found in sections 3.4.1 and 4.5.1.
Prerequisites There are prerequisite conditions from Yaskawa/Motoman for two versions of the robot controller:
DX100 controller Requirements for adapting the TH6D system to a Motoman DX100 controller:
Hardware • YCP02-E board with plug for CN120 (analogue sensor card, complete)
• Possibly: adapter for high-speed inputs (DIN adapter and cables) when using the analogue search function
• Four digital inputs and eight digital outputs to control the TH6D • An additional XIO02 card (I/O card) may be needed
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X100 controller • Sensor parameters that deviate from the initialization values:
Sensor parameter S1E021 = 2 S1E022 = 3 S1E027 = 100 S1E028 = 100 S1E070 = 1 S1E072 = 30 S1E073 = 60
NX100 controller Requirements for adapting the TH6D system to the Motoman NX100 controller:
Hardware General sensor card for analogue inputs: • Sensor board: NCP 02 • Analogue board: NSL02-2 • Connector: (3M-10136) • Cover: (3M-10336) Operating modes – basic settings
The "Reference Path" field in the "Machine Interface" tab (as shown in Figure 116) shows the currently selected operating mode (1) and the current controller mode (2).
The display field (2) is also a control field in set-up mode used to specify whether the robot controller ("via robot" mode) or the operator (manual mode) control the operating modes of the TH6D system. In the "with robot" mode, the robot controller automatically switches between the "record", "ref. mode" and "correction" operating modes. When in manual mode, the toggle field (2) can be pressed repeatedly to switch modes. The default is the control mode "via robot" using the auto-switched operating modes shown below.
Figure 116: Motoman reference path – operating modes
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The robot selects the operating mode
If the control mode "via robot" is activated, the field "operating mode" (1) is assigned to the field "selection" (2) in THxDView as follows:
Operating mode
Selection Description
• Records the seam points in the sensor coordinate system with imaging frequency (IN 3 = 0, IN 4 = 0)
• Transmits the difference between the current measured value and the measured value of the reference path (IN 3 = 1, IN 4 = 0)
• Not used
Changing the control mode and manually changing the operating mode
CAUTION!
The operating mode can only be changed manually while in set-up mode.
• While the control mode "via robot" is activated, click once on the
"choice" button (2) to switch to manual mode (as shown in Figure
117).
• By switching to manual mode, the "record" (1) mode is simultaneously activated, which is also displayed in the control field (2) (as shown in Figure 118).
Figure 117: Manually switching the control mode
Figure 118: Control mode "manual" – operating mode "record"
• Click once more on the "choice" field (2) to switch to the next operating mode.
• The operation mode that has been selected is displayed in the field (1) after the switch.
• After switching through the three manually selectable operating modes, the system will return to the "via robot" control mode.
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• Click on the button "Save" (3) to change the default boot configuration permanently. The new configuration will then be loaded at the next system boot.
Click on the button "clear" (4) to reset to factory default settings.
Manually selecting the operating mode
If the control mode "manual" is activated, the field "operating mode" (1) is assigned to the field "selection" (2) in THxDView as follows. The assignments are listed in the order they are activated and displayed when manually changed:
Operating mode
Selection Description
• Records the seam points in the sensor coordinate system in imaging frequency
• Transmits the difference between the current measured value and the measured value of the reference path • Not used
Set up with the robot
CAUTION!
Automatic mode and the "via robot" selection mode must both be activated in order to set up the robot.
NOTE!
During the reference movement, the seam points are saved in the TH6D process computer and assigned to the active job. Each processed section of a work piece has its own job number and thus its own reference data.
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Set up with the robot – continued
Function Display Bit
The robot's path is initially programmed on a sample work piece (the teach-in).
Then the reference path is recorded as soon as the robot sets off (controlled by the program) on the learned path at its processing speed. It is important that the activation and deactivation of the TH6D sensor head occurs automatically in the
programming.
During the recording of the reference path, no corrective values are transmitted to the robot.
Field (1) shows:
Field (2) shows:
IN3=0 IN4=0
When the work pieces are processed, the TH6D sensor head provides analogue corrective path-based signals for lateral and height directions as differential values for the reference path. This requires that the robot switch to the "ref. mode".
Field (1) shows:
Field (2) shows:
IN3=1 IN4=0
Information field
NOTE!
The speed needed for calculating the path length must be specified in the "Process Control" tab.
The "Info" shows a brief summary analysis of the recorded reference path.
Example In the example (in German language, as shown in Figure 119), a path of 100.6 mm was recorded. In this case there was an interruption in the seam detection of 0.3 mm at the seam position 47.9 mm.
Figure 119: THxDView – Motoman reference path – information field
Analogue and digital inputs and outputs
NOTE!
In the operating mode "record", no corrective values are output to the analogue outputs.
The functions of the "Analogue On/Off" and "Digital I/Os" areas are the same as those of the analogue-digital interface (refer to section 5.13.1). The corresponding interface assignment table can be found in section 8.3.
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Corresponding process control
After the Motoman interface has been selected in the "Machine Interface" tab, the parameters shown in Figure 120 are available for the process control.
Figure 120: Motoman interface – process control
Parameter description
The following parameters are used to optimize the measurement process.
Parameter Description Speed
(Rec, Track)
Speed value of the robot movement during the recording (Rec.) of the reference path
Speed value of the robot movement during the seam tracking (Track)
Speed (Scale, Offset) Not used
Filter length Selectable range for smoothing the measured values (moving average)
Caution: Only use filter width OR filter length! Measurement data without
advanced tracking
Not used
Filter width Mean value of the measured data for the specified number of images
Caution: Only use filter width OR filter length! ∆x (scale, offset) Scaling factor for the output of the measured value
on the gap between the laser lines; added to the measured value
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∆y (scale, offset) Scaling factor for the output of the measured value on the position in lateral direction; added to the measured value
∆z (scale, offset) Scaling factor for the output of the measured value on the position in height; added to the measured value
A (scale, offset) Not used in this machine interface
B (scale, offset) Not used in this machine interface
C (scale, offset) Not used in this machine interface
C (left) (scale, offset) Not used in this machine interface
C (right) (scale, offset) Not used in this machine interface
Gap width (scale, offset) Scaling factor for the output of the measured value on the gap width; added to the measured value
Mismatch (scale, offset) Scaling factor for the output of the measured value on the step height; added to the measured value
5.13.3 Machine interface – Fanuc Ethernet
Overview
NOTE!
Consult Fanuc's documentation when carrying out the machine-side integration.
Caution: Scansonic MI GmbH is not responsible for the content and maintenance of third-party documentation!
Prerequisites The following prerequisites are needed for the Fanuc system configuration [source Fanuc]:
Hardware • Controller (hardware):
RJ30iA robot controller with RJ45 network input, numbered as CD38A
Software • The proper Fanuc system software for communicating with the TH6D sensor head
• Software packages for sensor communication and seam tracking: R691 universal sensor interface
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Fanuc Ethernet The TH6D process computer communicates with the Fanuc robot controller using a separate PTP connection with a fixed IP address.
• Refer to instructions for setting up the Ethernet link found in the Fanuc documentation.
Changing the IP address of the TH6D systems
NOTE!
The robot and the TH6D system must be in the same IP address range.
After selecting the Fanuc interface, you must enter another IP address. The following steps should be taken to change the IP address using THxDView:
• The "Eth1" option (1 in Figure 121) must be selected: it corresponds to the TH6D communication port used with the Fanuc controller.
• Enter the desired IP address in the box (2).
• The subnet mask (3) must always be 255.255.255.0. • Click on the "Save" button (4) to apply the change.
• Restart the TH6D process computer by clicking the “Yes” button in the confirmation dialog box
• OR select "Restart" from the menu bar, under "Extras"
Figure 121: Fanuc Ethernet interface – changing the IP address
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Calibration A job must be specified in order to calibrate with the Fanuc robotics controller. This job must be designated as job number 1, since the Fanuc controller automatically invokes this number for the calibration.
Our recommendation
This job should consist of configurations (profiles) specifically set up and designated for the calibration.
Creating the calibration job
Create the profile and the first job according to the example below and the information found in section 5.14.9.
Creating and saving a profile
Select the "Lap joint" template for the seam pattern.
• Specify the "TCP position" parameter so that the TCP is positioned either to the left of right of the upper workpiece edge (upper plate) (refer to Figure 122 and section 5.11.2)
Adjust additional parameters if necessary. Save the profile under a specific name (for example, "fanuc_calibration").
Figure 122: Fanuc Ethernet interface – creating a calibration profile
• Select the existing template for the camera profile. Change the parameters if necessary and save the profile under a specific name (as described in section 5.14.7)
The profiles for "Calibration" and "Process Control" (refer to sections 5.11.6 and 5.11.8) should not be set. When compiling the job, you can use the system files or the place holders syscalib.xml (calibration) and
syspctrl.xml (process control). Creating a
calibration job
ATTENTION!
Do not delete the calibration job after the calibration has been carried out!
Addition information about this calibration can be found in the documentation from Fanuc.
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Make sure that the calibration job is assigned job number 1 (Job 1)! • Set up Job 1 as a calibration job, using the previously created
profiles (refer to the example in Figure 123)
• OR: you can delete an existing Job 1 and create a new one based on the previously created profiles.
• OR: you can change the number of an existing Job 1. Then create a new job as the calibration job with the previously created profiles. This job will automatically be assigned job number 1 and will be switched to the top position on the job list.
• Additional information about creating jobs can be found in sections 5.12.1 and 5.14.9
Figure 123: Fanuc Ethernet Interface – creating a calibration job (example)
Corresponding process control
The protocol for the Fanuc Ethernet interface to the TH6D system has been specified. Thus, after restarting the TH6D system, the output of measurements can be either enabled or disabled in the process control. This is done by setting or removing the check mark (as shown in Figure 124).
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5.13.5 Machine interface – IF UDP Data
IF UDP data
NOTE!
The UDP-machine interface is used for non-standard applications.
The following customer-specific adaptations can be made when using the UDP Data machine interface.
• IP address: • Dead time
Figure 125: THxDView – UDP Data interface
Delay Delay is the system delay time or response time required by the TH6D system when it outputs a data record. This value is automatically sent to the robot controller when the communication link is established.
ATTENTION!
You should only change this delay value when the communication link between the TH6D system and robot controller times out!
The value can then be adjusted accordingly but may not be less than 17 milliseconds! (Input value of 17000).
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