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ABB机器人力控使用说明书 英文版.pdf

发布时间：2022-05-29 发布人：admin 分类：说明书 资料大小：6.57M 资料格式：pdf 举报 版权申诉
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    Cover Page
    Table of contents
    1 Introduction （介绍）
    1.1 About Force Control base
    Purpose
    What is included
    Limitations for Force Control base
    Limitations for Machining FC GUI
    1.2 About FC basic control and assembly
    Purpose
    What is included
    Basic approach
    1.3 About FC Pressure
    Purpose
    What is included
    What is needed
    Basic approach
    1.4 About FC SpeedChange
    Purpose
    What is included
    What is needed
    Basic approach
    2 Installation
    2.1 Getting Started
    Overview
    Hardware using a force sensor
    Robot mounted sensor
    Room fixed sensor
    Additional axes
    Force sensor and cable
    UL approved
    Hardware using spindle signal for FC SpeedChange
    Cable and spindle signal
    Robot mounted ABB sensor
    Procedure
    General guidelines for Force Control
    Programming guidelines for Force Control
    3 Navigate and handle the graphical user interface
    3.1 FlexPendant interface
    3.1.1 RobotWare Machining FC main menu
    General
    RobotWare Machining FC interface
    Opening the interface of RobotWare Machining FC
    3.1.2 Version and compatibility
    Version information
    Compatibility
    3.2 Workflow for handling the graphical user interface
    3.2.1 FC Setup
    Force Control Setup page
    Force Control LoadID
    Activate/Deactivate Force Control
    3.2.2 Loading a project
    Overview
    How to load a project
    How to restore system module
    3.2.3 Creating a project
    Introduction to the program wizard
    Browse the program wizard
    How to create a project
    3.2.4 Modifying a project with the program wizard
    Overview
    How to modify a project
    3.2.5 Executing
    Overview
    Force Control Speed Change Process
    Force Control Pressure Process
    How to proceed
    3.3 Paths
    3.3.1 Creating
    Overview
    How to create a new path
    3.3.2 Teaching
    Overview
    Warning
    Teach view
    Conceptual view
    3D view
    Target list view
    How to teach a path
    How to define default parameters for a new added target
    Key targets of teaching
    3.3.3 Learning
    Overview
    How to learn a path
    Special learning
    3.3.4 Exporting
    Overview
    How to export a taught path
    How to export a learned path
    How to set parameters
    3.3.5 Testing
    Overview
    How to proceed
    3.4 Hints for handling the graphical user interface
    3.4.1 Summary - differences between speed change process and pressure process
    Overview
    3.4.2 Improving pressure process quality
    Contact between tool and work piece
    Set damping value
    3.4.3 Damping
    Description
    Components
    DampingTune
    How to set damping value in force control process
    3.4.4 Programming with additional axis
    Programming on system with additional axis
    3.4.5 Programming in multitask system
    Disabling other tasks
    Warning message box
    3.4.6 Programming in MultiMove system
    Overview
    How to program in MultiMove system
    3.4.7 Working with RobotStudio Machining PowerPac
    Overview
    RobotStudio Machining PowerPac
    How to work with RobotStudio Machining PowerPac
    4 Configuration
    4.1 System parameters overview
    About this section
    Robot
    FC Master
    FC Sensor
    FC Kinematics
    FC Application
    FC Speed Change
    PMC Sensor
    PMC Sensor Setup
    4.2 Configuration example
    Overview
    Robot
    FC Master
    FC Sensor
    FC Kinematics
    FC Application
    FC Speed Change
    PMC Sensor
    PMC Sensor Setup
    4.3 Configuring a MultiMove system
    Overview
    Setting up a MultiMove system
    5 Programming
    5.1 RAPID Components
    5.1.1 Force controlled pressure applications
    Overview
    Pressure instructions
    Calibrate the sensor
    The Phases
    5.1.2 Force controlled speed change applications
    Overview
    SpeedChange instructions
    Calibrate the sensor
    Example
    How does it work?
    5.1.3 Force controlled assembly applications
    About this section
    Instructions for sensor calibration
    Instructions for activation/deactivation of Force Control
    Instructions for force, torque and movement references
    Instructions for end conditions
    Instructions for supervision
    Functions
    Data types
    5.2 Code examples
    5.2.1 Force controlled pressure applications
    Overview
    Example
    5.2.2 Force controlled speed change applications
    Overview
    Example with force sensor
    Example with spindle motor current
    5.2.3 Force controlled assembly applications
    Overview
    Activating force control
    Find object position
    Position search
    Supervision example
    6 Execution behavior
    6.1 Conflicting reference values
    Only one reference in each direction
    Example 1
    Example 2
    Example 3
    6.2 Damping and LP-filter
    Damping
    LP-filter
    Illustration
    Force controller structure and tuning
    Damping
    Low pass filter
    6.3 Overcome friction
    Overview
    Example
    6.4 Special cases
    Jog the robot in force control
    Use PPmove
    Move the robot
    Start, stop and stepwise execution in manual mode
    6.5 FC Press optimization
    6.5.1 Use Spd FFW
    Overview
    Example 1
    Example 2
    6.6 FC SpeedChange control design
    6.6.1 Controller scheme
    Overview
    Scheme
    Available test signals to tune the process
    6.6.2 Rule based logical control
    Increase/Decrease
    Rules
    6.6.3 Programming in path coordinates
    Overview
    Usage
    6.6.4 Recover routine
    Overview
    Recover example
    7 Troubleshooting
    7.1 What to do when...
    ...the robot drifts
    ...the robot stops with an emergency error
    Example 1
    Example 2
    Example 3
    8 Rapid reference information
    8.1 Instructions（指令）
    8.1.1 FCAct
    Usage
    Basic example
    Arguments
    Tool
    [\WObj]
    [\ForceFrameRef]
    [\ForceFrameOrient]
    [\DampingTune]
    Program execution
    More examples
    Example 1
    Example 2
    Default supervision
    Limitations
    Syntax
    Related information
    8.1.2 FCCalib
    Usage
    Basic example
    Arguments
    Load
    [\Recovery]
    Program execution
    Syntax
    Related information
    8.1.3 FCCondForce
    Usage
    Basic example
    Arguments
    [\XMin]
    [\XMax]
    [\YMin]
    [\YMax]
    [\ZMin]
    [\ZMax]
    [\Outside]
    TimeOut
    Program execution
    More examples
    Example 1
    Example 2
    Example 3
    Limitations
    Syntax
    Related information
    8.1.4 FCCondOrient
    Usage
    Basic example
    Arguments
    [\OrientCondFrame]
    [\MaxAngle]
    [\MaxRot]
    [\Outside]
    TimeOut
    Program execution
    More examples
    Example 1
    Example 2
    Example 3
    Syntax
    Related information
    8.1.5 FCCondPos
    Usage
    Basic example
    Arguments
    [\PosCondFrame]
    [\Box]
    [\Cylinder]
    [\Sphere]
    [\Outside]
    TimeOut
    Program execution
    More examples
    Example
    Syntax
    Related information
    8.1.6 FCCondReoriSpeed
    Usage
    Basic example
    Arguments
    [\XMin]
    [\XMax]
    [\YMin]
    [\YMax]
    [\ZMin]
    [\ZMax]
    [\Outside]
    TimeOut
    Program execution
    Syntax
    Related information
    8.1.7 FCCondTCPSpeed
    Usage
    Basic example
    Arguments
    [\XMin]
    [\XMax]
    [\YMin]
    [\YMax]
    [\ZMin]
    [\ZMax]
    [\Outside]
    TimeOut
    Program execution
    More examples
    Example 1
    Syntax
    Related information
    8.1.8 FCCondTorque
    Usage
    Basic example
    Arguments
    [\XMin]
    [\XMax]
    [\YMin]
    [\YMax]
    [\ZMin]
    [\ZMax]
    [\Outside]
    TimeOut
    Program execution
    More examples
    Example 1
    Syntax
    Related information
    8.1.9 FCCondWaitWhile
    Usage
    Basic example
    Arguments
    [\ZeroRefAtEnd]
    More examples
    Example 1
    Syntax
    Related information
    8.1.10 FCDeact
    Usage
    Basic example
    Arguments
    Program execution
    Limitations
    Syntax
    Related information
    8.1.11 FCPress1LStart
    Usage
    Basic example
    Example
    Arguments
    ToPoint
    [\ToNextPoint]
    Speed
    [\Fx]
    [\Fy]
    [\Fz]
    ForceThreshold
    [\ForceFrameRef]
    [\ForceChange]
    [\DampingTune]
    [\TimeOut]
    [\UseSpdFFW]
    [\PosSupvDist]
    Zone
    Tool
    [\WObj]
    Program execution
    More examples
    Example 1
    Example 2
    Example 3
    Limitations
    Syntax
    Related information
    8.1.12 FCPressC
    Usage
    Basic examples
    Example
    Arguments
    CirPoint
    ToPoint
    Speed
    Force
    Zone
    Tool
    [\Wobj]
    Program execution
    Limitations
    Syntax
    Related information
    8.1.13 FCPressEnd
    Usage
    Basic examples
    Example
    Arguments
    ToPoint
    Speed
    [\ForceChange]
    [\ZeroContactValue]
    Tool
    [\Wobj]
    Program execution
    More examples
    Example 1
    Example 2
    Limitations
    Syntax
    Related information
    8.1.14 FCPressL
    Usage
    Basic examples
    Example
    Arguments
    ToPoint
    Speed
    Force
    Zone
    Tool
    [\Wobj]
    Program execution
    Limitations
    Syntax
    Related information
    8.1.15 FCRefCircle
    Usage
    Basic example
    Arguments
    Plane
    Speed
    Radius
    Program execution
    Syntax
    Related information
    8.1.16 FCRefForce
    Usage
    Basic example
    Arguments
    [\Fx]
    [\Fy]
    [\Fz]
    [\Amp]
    [\Period]
    Program execution
    More examples
    Example 1
    Example 2
    Syntax
    Related information
    8.1.17 FCRefLine
    Usage
    Basic example
    Arguments
    Direction
    MaxSpeed
    Distance
    [\OneSideOfStartPos]
    Program execution
    Syntax
    Related information
    8.1.18 FCRefMoveFrame
    Usage
    Basic example
    Arguments
    [\RefMoveFrameRef]
    [\RefMoveFrameOri]
    More examples
    Example 1 - Tool coord
    Example 2 - Work object coord
    Scenario 1
    Scenario 2
    Syntax
    Related information
    8.1.19 FCRefRot
    Usage
    Basic example
    Arguments
    Direction
    MaxSpeed
    Distance
    [\OneSideOfStartPos]
    Program execution
    Syntax
    Related information
    8.1.20 FCRefSpiral
    Usage
    Basic example
    Arguments
    Plane
    Speed
    Radius
    Turns
    Program execution
    Syntax
    Related information
    8.1.21 FCRefSprForceCart
    Usage
    Basic example
    Arguments
    [\StiffnessX]
    [\StiffnessY]
    [\StiffnessZ]
    [\MaxForceX]
    [\MaxForceY]
    [\MaxForceZ]
    [\PosAttractor]
    Program execution
    More examples
    Example 1
    Syntax
    Related information
    8.1.22 FCRefStart
    Usage
    Basic example
    Arguments
    Program execution
    More examples
    Example 1
    Example 2
    Syntax
    Related information
    8.1.23 FCRefStop
    Usage
    Basic example
    Arguments
    Limitations
    Syntax
    Related information
    8.1.24 FCRefTorque
    Usage
    Basic example
    Arguments
    [\Tx]
    [\Ty]
    [\Tz]
    [\Amp]
    [\Period]
    Program execution
    More examples
    Example 1
    Example 2
    Syntax
    Related information
    8.1.25 FCResetDampingTune
    Usage
    Basic example
    Example
    Arguments
    Program execution
    Syntax
    Related information
    8.1.26 FCResetLPFilterTune
    Usage
    Basic examples
    Example
    Arguments
    Program execution
    Syntax
    Related information
    8.1.27 FCSpdChgAct
    Usage
    Basic examples
    Example
    Arguments
    Reference
    [\RecoverFunName]
    [\NonStopAllTime]
    [\MultipleRecover]
    Program execution
    Limitations
    More examples
    Example 1
    Example 2
    Syntax
    Related information
    8.1.28 FCSpdChgDeact
    Usage
    Basic examples
    Example
    Arguments
    Syntax
    Related information
    8.1.29 FCSpdChgTunSet
    Usage
    Basic examples
    Example
    Arguments
    value
    type
    Program execution
    More examples
    Example 1
    Limitations
    Syntax
    Related information
    8.1.30 FCSpdChgTunReset
    Usage
    Basic examples
    Example
    Arguments
    type
    Program execution
    More examples
    Example
    Limitations
    Syntax
    Related information
    8.1.31 FCSetDampingTune
    Usage
    Basic example
    Example
    Arguments
    xdamp
    ydamp
    zdamp
    rxdamp
    rydamp
    [\RampTime]
    rzdamp
    Program execution
    Syntax
    Related information
    8.1.32 FCSetLPFilterTune
    Usage
    Basic examples
    Example 1
    Arguments
    CutOffFreq
    Program execution
    Limitations
    Syntax
    Related information
    8.1.33 FCSupvForce
    Usage
    Basic example
    Arguments
    [\XMin]
    [\XMax]
    [\YMin]
    [\YMax]
    [\ZMin]
    [\ZMax]
    Program execution
    More examples
    Example 1
    Syntax
    Related information
    8.1.34 FCSupvOrient
    Usage
    Basic example
    Arguments
    [\OrientSupvFrame]
    [\MaxAngle]
    [\MaxRot]
    Program execution
    More examples
    Example 1
    Example 2
    Syntax
    Related information
    8.1.35 FCSupvPos
    Usage
    Basic example
    Arguments
    [\PosSupvFrame]
    [\Box]
    [\Cylinder]
    [\Sphere]
    Program execution
    More examples
    Example 1
    Example 2
    Syntax
    Related information
    8.1.36 FCSupvReoriSpeed
    Usage
    Basic example
    Arguments
    [\XMin]
    [\XMax]
    [\YMin]
    [\YMax]
    [\ZMin]
    [\ZMax]
    Syntax
    Related information
    8.1.37 FCSupvTCPSpeed
    Usage
    Basic example
    Arguments
    [\XMin]
    [\XMax]
    [\YMin]
    [\YMax]
    [\ZMin]
    [\ZMax]
    Program execution
    Syntax
    Related information
    8.1.38 FCSupvTorque
    Usage
    Basic example
    Arguments
    [\XMin]
    [\XMax]
    [\YMin]
    [\YMax]
    [\ZMin]
    [\ZMax]
    Program execution
    More examples
    Example 1
    Syntax
    Related information
    8.2 Functions
    8.2.1 FCGetForce
    Usage
    Basic example
    Return value
    Arguments
    [\Tool]
    [\WObj]
    [\ContactForce]
    Program execution
    More examples
    Example 1
    Example 2
    Example 3
    Syntax
    Related information
    8.2.2 FCGetProcessData
    Usage
    Basic example
    Return value
    Arguments
    [\DataAtTrigTime]
    More examples
    Example 1
    Example 2
    Limitations
    Syntax
    Related information
    8.2.3 FCIsForceMode
    Usage
    Basic example
    Return value
    Syntax
    8.2.4 FCLoadID
    Usage
    Basic example
    Return value
    Arguments
    [\MaxMoveAx5]
    [\MaxMoveAx6]
    [\ReadingsPerPoint]
    [\PointsPerAxis]
    [\LoadidErr]
    [\WarningsOff]
    Program execution
    More examples
    Example 1
    Syntax
    Related information
    8.3 Data types
    8.3.1 fcboxvol
    Usage
    Description
    Components
    xmin
    xmax
    ymin
    ymax
    zmin
    zmax
    Examples
    Example 1
    Structure
    Related information
    8.3.2 fccondstatus
    Usage
    Components
    position
    speed
    force
    time
    Examples
    Example 1
    Structure
    Related information
    8.3.3 fccylindervol
    Usage
    Description
    Components
    xcbottom
    ycbottom
    zcbottom
    height
    radius
    Examples
    Example 1
    Structure
    Related information
    8.3.4 fcdamping
    Usage
    Description
    Components
    xdamp
    ydamp
    zdamp
    rxdamp
    rydamp
    rzdamp
    Examples
    Example 1
    Structure
    Related information
    8.3.5 fcforcevector
    Usage
    Components
    xforce
    yforce
    zforce
    xtorque
    ytorque
    ztorque
    Example
    Structure
    Related information
    8.3.6 fcframe
    Usage
    Example
    Predefined data
    Characteristics
    8.3.7 fclindir
    Usage
    Example
    Predefined data
    Characteristics
    Related information
    8.3.8 fcprocessdata
    Usage
    Description
    Components
    conditionstatus
    time
    poseinrefcs
    speedinwobjframe
    sensorforce
    forceframeforce
    force_control_active
    Examples
    Example 1
    Example 2
    Example 3
    Structure
    Related information
    8.3.9 fcplane
    Usage
    Example
    Limitations
    Predefined data
    Characteristics
    Related information
    8.3.10 fcrotdir
    Usage
    Example
    Predefined data
    Characteristics
    Related information
    8.3.11 fcspeedvector
    Usage
    Components
    vx
    vy
    vz
    wx
    wy
    wz
    Examples
    Example
    Structure
    Related information
    8.3.12 fcspherevol
    Usage
    Description
    Components
    xc
    yc
    zc
    radius
    Examples
    Example 1
    Structure
    Related information
    8.3.13 fcspdchgtunetype
    Usage
    Examples
    Predefined data
    Characteristics
    Related information
    8.3.14 fcxyznum
    Usage
    Description
    Components
    x
    y
    z
    Examples
    Example 1
    Predefined data
    Structure
    Related information
    9 System parameter reference information
    9.1 Type Robot
    9.1.1 Use FC Master
    Parent
    Cfg name
    Description
    Usage
    Prerequisite
    Allowed values
    Related information
    9.1.2 Use PMC Sensor
    Parent
    Cfg name
    Description
    Usage
    Prerequisites
    Allowed values
    Related information
    9.2 Type FC Master
    9.2.1 The FC Master type
    Overview
    Cfg name
    Type description
    9.2.2 Name
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.2.3 Use FC Sensor
    Parent
    Cfg name
    Description
    Usage
    Prerequisites
    Allowed values
    Related information
    9.2.4 Use FC Kinematics
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    Related information
    9.2.5 Use FC Application
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    Related information
    9.2.6 Use FC Speed Change
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    Related information
    9.3 Type FC Sensor
    9.3.1 The FC Sensor type
    Overview
    Cfg name
    Type description
    Illustration - robot mounted sensor
    Illustration - room fixed sensor
    9.3.2 Name
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.3.3 Force Sensor Mount Unit Name
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.3.4 Force Sensor Type
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.3.5 Force Sensor Frame x - z
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.3.6 Force Sensor Frame q1 - q4
    Parent
    Cfg name
    Description
    Allowed values
    Related information
    9.3.7 Noise level
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.4 Type FC Kinematics
    9.4.1 The FC Kinematics type
    Overview
    Cfg name
    Type overview
    9.4.2 Name
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.4.3 Damping in Force x Direction - Damping in Force z Direction
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.4.4 Damping in Torque x Direction - Damping in Torque z Direction
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.4.5 Bandwidth of force frame filter
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.4.6 Bandwidth of force loop filter
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.5 Type FC Application
    9.5.1 The FC Application type
    Overview
    Cfg name
    Type description
    9.5.2 Name
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.5.3 Max Ref Force （最大参考力）
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.5.4 Max Ref Force Change
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.5.5 Max Ref Torque（最大参考扭矩）
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.5.6 Max Ref Torque Change
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.5.7 Max Ref TCP Speed
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.5.8 Max Ref Rot Speed（最大参考转动速度）
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.5.9 Max Ref TCP Acc
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.5.10 Max Ref Rot Acc
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.5.11 Speed superv override
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.5.12 Largest measured contact force
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.5.13 Lowest measured contact force
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.5.14 Largest measured contact torque
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.5.15 Lowest measured contact torque
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.5.16 Keep contact force at stop
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.5.17 Max Press TCP Speed
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.5.18 Max Press Rot Speed
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.6 Type PMC Sensor
    9.6.1 The PMC Sensor type
    Overview
    Cfg name
    Type description
    9.6.2 Name
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.6.3 Use PMC Sensor Setup
    Parent
    Cfg name
    Description
    Usage
    Prerequisites
    Allowed values
    Related information
    9.7 Type PMC Sensor Setup
    9.7.1 The PMC Sensor Setup type
    Overview
    Cfg name
    Type description
    Illustration
    9.7.2 Name
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.7.3 Use Board Type
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.7.4 Measurement link
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.7.5 Measurement board number
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    Additional information
    9.7.6 Type of sensor interface
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    Additional information
    9.7.7 Disable check of saturation
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.7.8 Time in saturation before warning
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.7.9 Time in saturation before error
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.7.10 Max voltage for external AD card
    Parent
    Cfg Name
    Description
    Usage
    Allowed values
    9.7.11 Max voltage output from sensor
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.7.12 Sat. level, percentage of sensor volt
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    Example
    9.7.13 Sensor serial number
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.7.14 Disable Force Sensor Cable Check
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.7.15 Safety Channel Voltage
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.7.16 fx 1 - fx 6
    Parent
    Cfg name
    Description
    Usage
    Example
    Allowed values
    9.7.17 fy 1 - fy 6
    Parent
    Cfg name
    Description
    Usage
    Example
    Allowed values
    9.7.18 fz 1 - fz 6
    Parent
    Cfg name
    Description
    Usage
    Example
    Allowed values
    9.7.19 tx 1 - tx 6
    Parent
    Cfg name
    Description
    Usage
    Example
    Allowed values
    9.7.20 ty 1 - ty 6
    Parent
    Cfg name
    Description
    Usage
    Example
    Allowed values
    9.7.21 tz 1 - tz 6
    Parent
    Cfg name
    Description
    Usage
    Example
    Allowed values
    9.7.22 fx scale - tz scale
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.7.23 fx max - tz max
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8 Type FC Speed Change
    9.8.1 The FC Speed Change Type
    Overview
    Cfg name
    Type description
    9.8.2 Name
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.3 Speed ratio min
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.4 No of speed levels
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.5 Speed ratio delta
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.6 Speed max update period
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.7 Feedback type
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.8 DAC channel
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.9 Feedback offset
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.10 Use Fdb LP filter
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.11 Fdb LP filter bandwidth
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.12 Maximum TCP speed
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.13 Recover rule fdb ratio
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.14 Decrease rule safety fdb ratio
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.15 Decrease rule safety fdb time
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.16 Fdb trend step size
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.17 Decrease rule 1 fdb ratio
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.18 Decrease rule 1 fdb trend
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.19 Decrease rule 2 fdb ratio
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.20 Decrease rule 2 fdb trend
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.21 Increase rule 1 fdb ratio
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.22 Increase rule 1 fdb trend
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.23 Increase rule 2 fdb ratio
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    9.8.24 Increase rule 2 fdb trend
    Parent
    Cfg name
    Description
    Usage
    Allowed values
    10 Further references
    10.1 Test Signal Viewer
    Overview
    Installation
    Procedure
    Test Signal number
    10.2 The Coordinate systems
    About the coordinate systems
    Force control coordinate system
    Orient condition coordinate system
    Orient supervision coordinate system
    Position condition coordinate system
    Position supervision coordinate system
    Reference movement coordinate system
    Sensor coordinate system
    Tool 0 coordinate system
    Tool coordinate system
    Related information
    10.3 Force Sensor interface （接口）
    10.3.1 About the Force Sensor interface
    Overview
    10.3.2 Voltage measurement box
    Voltage measurement box 3HAC034234-001
    Input voltage requirements
    I/O pin configuration
    Connector X3
    Connector X1
    Connector X2
    Hole pattern
    Protection class
    10.3.3 Sensor configuration
    Procedure
    10.3.4 Sensors with less than six degrees of freedom
    About this section
    Pure force sensor
    One DOF sensor
    10.3.5 Room fixed sensor
    Overview
    Configuration
    RAPID
    Index
    Application manual Force Control
    Trace back information: Workspace Main version a117 Checked in 2015-08-31 Skribenta version 4.6.081
    Application manual Force Control RobotWare 6.02 Document ID: 3HAC050377-001 Revision: A © Copyright 2007-2015 ABB. All rights reserved.
    The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual. Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damages to persons or property, fitness for a specific purpose or the like. In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein. This manual and parts thereof must not be reproduced or copied without ABB's written permission. Additional copies of this manual may be obtained from ABB. The original language for this publication is English. Any other languages that are supplied have been translated from English. © Copyright 2007-2015 ABB. All rights reserved. ABB AB Robotics Products Se-721 68 Västerås Sweden
    Table of contents Table of contents 1 2 Overview of this manual ................................................................................................................... Introduction 1.1 1.2 1.3 1.4 Installation 2.1 Getting Started ................................................................................................. About Force Control base ................................................................................... About FC basic control and assembly ................................................................... About FC Pressure ............................................................................................ About FC SpeedChange ..................................................................................... 3 Navigate and handle the graphical user interface 3.1 3.3 FlexPendant interface ........................................................................................ 3.1.1 RobotWare Machining FC main menu ......................................................... 3.1.2 Version and compatibility .......................................................................... 3.2 Workflow for handling the graphical user interface .................................................. 3.2.1 FC Setup ............................................................................................... Loading a project .................................................................................... 3.2.2 3.2.3 Creating a project .................................................................................... 3.2.4 Modifying a project with the program wizard ................................................. 3.2.5 Executing .............................................................................................. Paths .............................................................................................................. 3.3.1 Creating ................................................................................................ 3.3.2 Teaching ............................................................................................... 3.3.3 Learning ................................................................................................ 3.3.4 Exporting ............................................................................................... 3.3.5 Testing .................................................................................................. 3.4 Hints for handling the graphical user interface ........................................................ 3.4.1 Summary - differences between speed change process and pressure process .... Improving pressure process quality ............................................................ 3.4.2 3.4.3 Damping ................................................................................................ 3.4.4 Programming with additional axis ............................................................... 3.4.5 Programming in multitask system ............................................................... 3.4.6 Programming in MultiMove system ............................................................. 3.4.7 Working with RobotStudio Machining PowerPac ........................................... 4 Configuration 4.1 4.2 4.3 System parameters overview ............................................................................... Configuration example ....................................................................................... Configuring a MultiMove system .......................................................................... 5 Programming 5.1 5.2 RAPID Components ........................................................................................... 5.1.1 Force controlled pressure applications ........................................................ 5.1.2 Force controlled speed change applications ................................................. 5.1.3 Force controlled assembly applications ....................................................... Code examples ................................................................................................. 5.2.1 Force controlled pressure applications ........................................................ 5.2.2 Force controlled speed change applications ................................................. 5.2.3 Force controlled assembly applications ....................................................... 6 Execution behavior Conflicting reference values ................................................................................ 6.1 Damping and LP-filter ........................................................................................ 6.2 6.3 Overcome friction .............................................................................................. Application manual - Force Control 3HAC050377-001 Revision: A © Copyright 2007-2015 ABB. All rights reserved. 11 13 13 15 16 17 19 19 25 25 25 27 28 28 31 33 37 38 40 40 42 52 56 59 61 61 62 63 65 66 68 70 73 73 78 81 83 83 83 85 89 94 94 95 98 101 101 103 105 5
    Table of contents 6.4 6.5 6.6 Special cases ................................................................................................... FC Press optimization ........................................................................................ 6.5.1 Use Spd FFW ......................................................................................... FC SpeedChange control design .......................................................................... 6.6.1 Controller scheme ................................................................................... 6.6.2 Rule based logical control ......................................................................... 6.6.3 Programming in path coordinates ............................................................... 6.6.4 Recover routine ...................................................................................... 7 Troubleshooting 7.1 What to do when... ............................................................................................. 8 Rapid reference information Instructions ...................................................................................................... 8.1.1 FCAct ................................................................................................... 8.1.2 FCCalib ................................................................................................. 8.1.3 FCCondForce ......................................................................................... 8.1.4 FCCondOrient ........................................................................................ 8.1.5 FCCondPos ........................................................................................... 8.1.6 FCCondReoriSpeed ................................................................................. 8.1.7 FCCondTCPSpeed .................................................................................. 8.1.8 FCCondTorque ....................................................................................... 8.1.9 FCCondWaitWhile ................................................................................... 8.1.10 FCDeact ................................................................................................ 8.1.11 FCPress1LStart ...................................................................................... 8.1.12 FCPressC .............................................................................................. 8.1.13 FCPressEnd ........................................................................................... 8.1.14 FCPressL .............................................................................................. 8.1.15 FCRefCircle ........................................................................................... 8.1.16 FCRefForce ........................................................................................... 8.1.17 FCRefLine ............................................................................................. 8.1.18 FCRefMoveFrame ................................................................................... 8.1.19 FCRefRot ............................................................................................... 8.1.20 FCRefSpiral ........................................................................................... 8.1.21 FCRefSprForceCart ................................................................................. 8.1.22 FCRefStart ............................................................................................. 8.1.23 FCRefStop ............................................................................................. 8.1.24 FCRefTorque .......................................................................................... 8.1.25 FCResetDampingTune ............................................................................. 8.1.26 FCResetLPFilterTune ............................................................................... 8.1.27 FCSpdChgAct ........................................................................................ 8.1.28 FCSpdChgDeact ..................................................................................... 8.1.29 FCSpdChgTunSet ................................................................................... 8.1.30 FCSpdChgTunReset ................................................................................ 8.1.31 FCSetDampingTune ................................................................................ 8.1.32 FCSetLPFilterTune .................................................................................. 8.1.33 FCSupvForce ......................................................................................... 8.1.34 FCSupvOrient ......................................................................................... 8.1.35 FCSupvPos ............................................................................................ 8.1.36 FCSupvReoriSpeed ................................................................................. 8.1.37 FCSupvTCPSpeed .................................................................................. 8.1.38 FCSupvTorque ....................................................................................... Functions ........................................................................................................ 8.2.1 FCGetForce ........................................................................................... 8.2.2 FCGetProcessData .................................................................................. 8.2.3 FCIsForceMode ...................................................................................... 8.2.4 FCLoadID .............................................................................................. Data types ....................................................................................................... fcboxvol ................................................................................................ 8.3.1 8.1 8.2 8.3 6 106 107 107 109 109 111 113 114 115 115 117 117 117 120 122 125 129 132 135 138 141 143 144 149 151 154 156 158 160 162 164 166 168 171 173 174 176 177 178 181 182 184 186 188 189 192 195 197 199 201 204 204 206 208 209 213 213 © Copyright 2007-2015 ABB. All rights reserved. Application manual - Force Control 3HAC050377-001 Revision: A
    Table of contents fccondstatus .......................................................................................... 8.3.2 fccylindervol ........................................................................................... 8.3.3 fcdamping .............................................................................................. 8.3.4 fcforcevector .......................................................................................... 8.3.5 fcframe .................................................................................................. 8.3.6 fclindir ................................................................................................... 8.3.7 fcprocessdata ......................................................................................... 8.3.8 fcplane .................................................................................................. 8.3.9 8.3.10 fcrotdir .................................................................................................. 8.3.11 fcspeedvector ......................................................................................... 8.3.12 fcspherevol ............................................................................................ 8.3.13 fcspdchgtunetype .................................................................................... 8.3.14 fcxyznum ............................................................................................... 9 System parameter reference information 9.1 9.2 9.3 9.4 9.5 Type Robot ...................................................................................................... 9.1.1 Use FC Master ........................................................................................ 9.1.2 Use PMC Sensor ..................................................................................... Type FC Master ................................................................................................ 9.2.1 The FC Master type ................................................................................. 9.2.2 Name .................................................................................................... 9.2.3 Use FC Sensor ....................................................................................... 9.2.4 Use FC Kinematics .................................................................................. 9.2.5 Use FC Application .................................................................................. 9.2.6 Use FC Speed Change ............................................................................. Type FC Sensor ................................................................................................ 9.3.1 The FC Sensor type ................................................................................. 9.3.2 Name .................................................................................................... 9.3.3 Force Sensor Mount Unit Name ................................................................. 9.3.4 Force Sensor Type .................................................................................. 9.3.5 Force Sensor Frame x - z .......................................................................... 9.3.6 Force Sensor Frame q1 - q4 ...................................................................... 9.3.7 Noise level ............................................................................................. Type FC Kinematics ........................................................................................... 9.4.1 The FC Kinematics type ........................................................................... 9.4.2 Name .................................................................................................... 9.4.3 Damping in Force x Direction - Damping in Force z Direction ........................... 9.4.4 Damping in Torque x Direction - Damping in Torque z Direction ....................... 9.4.5 Bandwidth of force frame filter ................................................................... 9.4.6 Bandwidth of force loop filter ..................................................................... Type FC Application .......................................................................................... 9.5.1 The FC Application type ........................................................................... 9.5.2 Name .................................................................................................... 9.5.3 Max Ref Force ........................................................................................ 9.5.4 Max Ref Force Change ............................................................................. 9.5.5 Max Ref Torque ...................................................................................... 9.5.6 Max Ref Torque Change ........................................................................... 9.5.7 Max Ref TCP Speed ................................................................................ 9.5.8 Max Ref Rot Speed .................................................................................. 9.5.9 Max Ref TCP Acc .................................................................................... 9.5.10 Max Ref Rot Acc ..................................................................................... 9.5.11 Speed superv override ............................................................................. 9.5.12 Largest measured contact force ................................................................. 9.5.13 Lowest measured contact force ................................................................. 9.5.14 Largest measured contact torque ............................................................... 9.5.15 Lowest measured contact torque ............................................................... 9.5.16 Keep contact force at stop ........................................................................ 9.5.17 Max Press TCP Speed ............................................................................. 9.5.18 Max Press Rot Speed ............................................................................... Application manual - Force Control 3HAC050377-001 Revision: A © Copyright 2007-2015 ABB. All rights reserved. 215 217 219 221 223 224 225 227 228 229 231 232 233 235 235 235 236 237 237 238 239 240 241 242 243 243 246 247 248 249 250 251 252 252 253 254 255 256 257 258 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 7
    Table of contents 9.6 9.7 9.8 Type PMC Sensor ............................................................................................. 9.6.1 The PMC Sensor type .............................................................................. 9.6.2 Name .................................................................................................... 9.6.3 Use PMC Sensor Setup ............................................................................ Type PMC Sensor Setup ..................................................................................... 9.7.1 The PMC Sensor Setup type ..................................................................... 9.7.2 Name .................................................................................................... 9.7.3 Use Board Type ...................................................................................... 9.7.4 Measurement link .................................................................................... 9.7.5 Measurement board number ..................................................................... 9.7.6 Type of sensor interface ........................................................................... 9.7.7 Disable check of saturation ....................................................................... 9.7.8 Time in saturation before warning .............................................................. 9.7.9 Time in saturation before error ................................................................... 9.7.10 Max voltage for external AD card ................................................................ 9.7.11 Max voltage output from sensor ................................................................. 9.7.12 Sat. level, percentage of sensor volt ........................................................... 9.7.13 Sensor serial number ............................................................................... 9.7.14 Disable Force Sensor Cable Check ............................................................. 9.7.15 Safety Channel Voltage ............................................................................ 9.7.16 fx 1 - fx 6 ............................................................................................... 9.7.17 fy 1 - fy 6 ............................................................................................... 9.7.18 fz 1 - fz 6 ................................................................................................ 9.7.19 tx 1 - tx 6 ............................................................................................... 9.7.20 ty 1 - ty 6 ............................................................................................... 9.7.21 tz 1 - tz 6 ................................................................................................ 9.7.22 fx scale - tz scale ..................................................................................... 9.7.23 fx max - tz max ....................................................................................... Type FC Speed Change ..................................................................................... 9.8.1 The FC Speed Change Type ...................................................................... 9.8.2 Name .................................................................................................... 9.8.3 Speed ratio min ...................................................................................... 9.8.4 No of speed levels ................................................................................... 9.8.5 Speed ratio delta ..................................................................................... 9.8.6 Speed max update period ......................................................................... 9.8.7 Feedback type ........................................................................................ 9.8.8 DAC channel .......................................................................................... 9.8.9 Feedback offset ...................................................................................... 9.8.10 Use Fdb LP filter .................................................................................... 9.8.11 Fdb LP filter bandwidth ............................................................................ 9.8.12 Maximum TCP speed ............................................................................... 9.8.13 Recover rule fdb ratio ............................................................................... 9.8.14 Decrease rule safety fdb ratio .................................................................... 9.8.15 Decrease rule safety fdb time .................................................................... 9.8.16 Fdb trend step size ................................................................................. 9.8.17 Decrease rule 1 fdb ratio ........................................................................... 9.8.18 Decrease rule 1 fdb trend .......................................................................... 9.8.19 Decrease rule 2 fdb ratio ........................................................................... 9.8.20 Decrease rule 2 fdb trend .......................................................................... 9.8.21 Increase rule 1 fdb ratio ............................................................................ 9.8.22 Increase rule 1 fdb trend ........................................................................... 9.8.23 Increase rule 2 fdb ratio ............................................................................ 9.8.24 Increase rule 2 fdb trend ........................................................................... 10 Further references 10.1 Test Signal Viewer ............................................................................................. 10.2 The Coordinate systems ..................................................................................... 10.3 Force Sensor interface ....................................................................................... 10.3.1 About the Force Sensor interface ............................................................... 276 276 277 278 279 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 327 327 329 332 332 8 © Copyright 2007-2015 ABB. All rights reserved. Application manual - Force Control 3HAC050377-001 Revision: A
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