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3.2. Riveting Node
Before the rivet node is call in the UR program, the robot has to be ready in the riveting position – i.e. the rivet has to be
inserted into the hole. It is recommended to place the rivet node in the Force sequence to assure sufficient pressure of
the riveting head to the material and also to prevent robot damage or protective stop.
The rivet node contains one MoveJ command. Position of this move shall be at least 1 cm above the riveted material to
prevent the rivet mandrel to get stuck in the set rivet (the mandrel may come out of the nose piece when being released).
Available options of the node are:
— Select log level – Level of the messages written to the robot Date Log
— Timeout of riveting [s] – This timeout watches the riveting process in a case of any trouble. The time is measured
from the moment the riveting is enabled. If there is any problem and the timeout runs out, the error is reported.
— Timeout of parameter set [s] – For each riveting a different parameter set can be selected. Therefore in each riveting
node the parameter set is setup. If there is no response from the SAN2 system with confirmation of the selected
parameter set, the timeout runs out and an error is reported. Reasonable value is between 3 and 20.
— Timeout of rivet charging [s] – This timeout watches the process of the charging the rivet from the charger to the
riveting head. If the timeout is exceeded, an error is reported. Reasonable value is between 5 and 20.
—
Select parameter set – Specified parameter set for the particular riveting. Up to 4 sets can be configured and used for
e.g. different material thickness. The parameter set can be configured in SanAssist application supplied together with
the SAN2 system. In case the evaluation module of the SAN system is disabled, please select arbitrary parameter set
(other than None) – this does not affect the riveting function.
— OK/NOK indicators – next to the Select parameter set combo box, two indicators are available. These indicators
show the last result of the rivet evaluation – OK (active green) and NOK (active RED). In case an error occurred or
the machine has not set the rivet yet, both OK and NOK are painted gray, see Figure 7, Figure 8 and Figure 9
Chyba!
Nenalezen zdroj odkazů.
. The results of the evaluation are also available as global variables for further use. The
variables’ resolvable names are tta_rivet_evaluation_ok and tta_rivet_evaluation_nok. Example of variable further use is
shown in Figure 10. In this example, the tta_rivet_evaluation_nok variable is checked in the IF condition and in case the
rivet has been NOK, the program is paused and operator is informed by a popup message. Note, that the variables will
not be updated if the evaluation module is not enabled.
— Hint – at the bottom of the screen, there is a legend available for all the settings of SAN2 Rivet node.
All t
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Titgemeyer / 10273EN1120 / 1
The SAN system
/ Modules for standard rivet nuts
