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User's Manual
Revision 1.7,
1. Date of issue: 31/05/2012
Legal details
Manufacturer
Scansonic MI GmbH
Rudolf-Baschant-Strae 2
D-13086 Berlin, Germany
Important
Tel.:
+49 (0) 30 / 91 20 74 10
E-mail:
service@scansonic.de
Fax:
+49 (0) 30 / 91 20 74 29
Internet: www.scansonic.de
Note
Reproduction /
The contents of the User's Manual are the property of Scansonic MI GmbH.
Copyrights
Customer
service
+49 (0) 30 / 91 20 74 10
Fax:
+49 (0) 30 / 91 20 74 29
E-mail:
service@scansonic.de
Internet:
www.scansonic.de
Table of Contents
1.
1.1
1.2
1.3
1.4
2.
Safety........................................................................... 2-1
2.1
2.2
2.2.1
2.2.2
2.2.3
2.2.4
2.3
2.3.1
2.3.2
2.4
2.5
2.6
2.7
2.8
3.
3.1
3.1.1
3.1.2
3.1.3
3.1.4
3.2
3.2.1
3.2.2
3.2.3
3.2.4
3.2.5
3.2.6
3.2.7
3.2.8
3.3
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
3.3.6
3.4
3.4.1
3.4.2
3.4.3
3.5
3.5.1
3.5.2
3.6
3.6.1
3.6.2
3.6.3
3.7
4.
4.1
4.2
4.3
4.3.1
4.3.2
4.3.3
4.3.4
4.4
4.4.1
4.4.2
4.4.3
4.4.4
Installation and basic positioning of the TH6D sensor head ........... 4-12
4.4.5
Mounting the safety glass unit on the TH6D sensor head .............. 4-13
4.4.6
Mounting the cooling module on the TH6D sensor head ................ 4-15
4.4.7
4.4.8
Connecting the power supply to the TH6D sensor head ................ 4-18
4.4.9
Connection for the cooling and purging air at the TH6D sensor
head...................................................................................... 4-19
4.4.10
4.4.11
4.4.12
4.4.13
4.4.14
4.5
4.5.1
4.5.2
4.5.3
4.5.4
4.5.5
5.
5.1
5.2
5.3
5.3.1
5.3.2
5.3.3
5.4
5.4.1
5.4.2
5.5
5.6
5.6.1
5.6.2
5.7
5.7.1
5.7.2
Events.................................................................................... 5-17
5.8
5.8.1
5.8.2
5.8.3
5.8.4
5.9
5.9.1
5.9.2
5.10
5.11
5.11.1
5.11.2
Seam Pattern tab templates with seam pattern profiles ............. 5-27
5.11.3
5.11.4
5.11.5
5.11.6
5.11.7
5.11.8
5.12
5.12.1
5.12.2
5.12.3
5.13
5.13.1
5.13.2
5.13.3
5.13.5
5.14
5.14.1
5.14.2
5.14.3
5.14.4
5.14.5
5.14.6
5.14.7
5.14.8
5.14.9
6.
6.1
6.2
6.2.1
6.2.2
6.2.3
6.3
6.3.1
6.3.2
6.3.3
7.
7.1
7.2
8.
8.1
8.2
8.3
8.4
8.4.1
8.4.2
8.5
8.6
8.6.1
8.6.2
8.6.3
8.6.4
9.
9.1
9.1.1
9.1.2
9.2
9.3
9.4
1.
1.2
1.3
1.4
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1.1
The user's manual contains the necessary information describing the installation, operation, and
maintenance for the following approved versions of the sensor system: Tracking Head 6
Dimensions:
TH6D-150-CFxx-yy
TH6D-150-KFxx-yy
The Tracking Head 6 Dimensions will be subsequently referred to as the TH6D in this document.
Additional training is recommended due to the complexity of the device.
1.2
The illustrations in this manual do not always include all details and do not always depict the
latest components. They show only the most significant information for the reader.
The User's Manual is divided up into chapters arranged according to technical and training topics.
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1.3
Abbreviations
ADF
Analogue-digital interface
Base-T
Ethernet version
CCD
Charge-coupled device
C-MOS
EMC
Electromagnetic compatibility
Ex.
Example
Fig.
Figure
IP
Internet protocol
Direction of beam
LED
LPC
MD
Machinery directive
MPR
Normal
SP
Seam point
PTP
PU
Polyurethane
Direction of reflection
S0
Sensor origin
Time
TCP
TH6D
UDP
UM
User's Manual
Viewing angle
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Angle of reflection
Units
bar
kW
Kilowatt
l/min
min
Minute
ms
Millisecond
m2
Square metre
nm
Nanometre
Pa
Second
Watt
Micrometre
Microsecond
Degrees Celsius
Outer diameter
Internal diameter
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1.4
Symbols
The following symbols and icons are used to identify sources of danger. They are in compliance
with the applicable standards at the time this manual was published and may occur at all warning
levels.
Warning for dangers in vicinity of the turning and reaching zone of the industrial
robot (W079)
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DANGER!
This indicates particular dangers to life and limb. Failure to observe these notices will
lead to death or serious injuries.
WARNING
This indicates a situation that may be dangerous. Failure to observe these notices
can lead to death or serious injuries.
CAUTION!
This indicates a situation that may be dangerous. Failure to observe these notices
can result in slight injuries. In addition, there is a risk of considerable damage to
property.
NOTE!
This is used for notices which, if not observed, can lead to a disruption in operating
procedures.
TIP!
This is used for notices which can lead to an improvement in operating procedures if
observed.
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2.
Safety
This chapter describes how to handle the TH6D system safely and
describes its correct and intended usage.
2.1
2.2
2.2.1
2.2.2
2.2.3
2.2.4
2.3
2.3.1
2.3.2
2.4
2.5
2.6
2.7
2.8
Disposal........................................................................ 2-12
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Safety
2.1
the facility
manufacturer,
operating
company and
personnel
Safety
The operator of the system is responsible for labelling the system properly.
equipment
Initial
commissioning
and operation
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Safety
Protective
clothing
Accident
prevention
VBG 93) must be followed when operating the TH6D sensor system. The
according to the
BGV B2
authorities should be notified before you start working with any class-3B
regulation
or class-4 laser equipment. You must mark and restrict the laser working
ranges of any class-3B or class-4 laser equipment. The operator of the
sensors must restrict access to the laser's working range.
Cleanliness
Maintenance
Always be sure that the power supply is disconnected before starting any
and repair
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Safety
2.2
Laser safety
Laser class
Wave length
WARNING!
range and
Laser radiation is dangerous to human health!
power
When operating the TH6D system, specific hazards may be present based
on how the laser beam is used.
Laser equipment can produce extremely intense, highly focused radiation
in the visible, infra-red or ultraviolet spectrum. The laser radiation has
photo-chemical, thermal and opto-mechanical influences which can be
hazardous to your health.
CAUTION!
Please refer to the instructions about accident
prevention regulation found in BGV B2 "Laser
safety" (section 2.1).
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Safety
Dangers from
It is dangerous to look directly into the laser beam or into the beam's
laser radiation
2.2.2 Retro-reflection
General hazards
DANGER
Danger from reflected laser beams!
Do not direct the laser beam towards reflective
surfaces!
Directional retro-reflections
retro reflections can occur when working with reflective
materials. Reflections of the laser beam off of the work material can
damage your skin and eyes.
The laser aperture is located at the bottom of the TH6D sensor head. (See
Figure 1.)
.) This location is marked with a warning label.
Aperture
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Safety
Laser devices which are supplied as components for a system are not
subject to IEC 60825-1,
1, since the final product itself is subject to this
standard. If the laser system can be removed and operated separately
from a facility, then the requirements of IEC 60825-1 pertain to the
stand-alone component.
This also applies to TH6D-series laser equipment
uipment that can be operated as
stand-alone
alone devices, especially for the sensor types listed in Chapter 1.1.
Sensor safety
Figure 2:: Location of the warning LED on the TH6D sensor head
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Safety
The wavelength of the warning LED is 606 nm. When selecting safety
goggles, ensure that you can still see the warning LED clearly with the
goggles on. It the operating personnel cannot see the warning light visible
from their secure positions, then additional acoustic or visual warning
signals should be attached during the installation of the TH6D sensor
system.
When installing the sensor heads listed in section 1.1, make sure that the
laser beam cannot inadvertently expose the skin or eyes over the
allowable limits as specified in EN 60825-1 (VDE 0837-1): 2008-05.
Safety measures
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Safety
2.3
Particular dangers
The particular dangers that can occur while installing, mounting and operating the TH6D system
within a production facility are described below.
Design measures were carefully integrated into the construction of the TH6D system so that
dangers posed by emitted substances ("media") and voltages would be minimized.
Non-approved usage can cause damage to the modules or components.
Your own health and the health of others should be your primary consideration. Ensure that all
voltage sources have been switched off to the facility during set-up or maintenance procedures.
The TH6D sensor system should be switched off and the pneumatic systems should be depressurized. Make sure that the facility cannot be turned on again unintentionally.
Forbidden, excessive pressure leads to an increased risk of injury. Follow the pressure
specifications given in the Technical Specifications section in Chapter 8.
Extremely loud noises can occur when changing the pressurized media-supply hoses. Damage to
hearing could result. Always wear proper ear protection while making the change.
Pressurized lines can whip back and forth after they are disconnected. This can lead to eye or
bodily injuries. Always wear proper eye protection and protective clothing while making the
change.
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Safety
2.4
The lifespan of the integrated laser diode may be shortened if you are
operating with an enclosure temperature that exceeds the specified
operating temperature. Make sure the temperature stays in the specified
range. Operations outside of the specified temperatures will lead to a
temperature-related decrease in the absolute measurement accuracy.
Protective
measures
Glass panes with anti-reflective coating which have been built into
the TH6D sensor head (refer to section 3.3.1)
An extra, standard safety glass unit with an additional plastic
safety glass that has been integrated in front of the panes (refer
to section 3.3.2)
Purging air is supplied to the TH6D sensor head in order to
increase the durability of the plastic safety glasses
Built-in connections for air-cooling the TH6D sensor head
2.5
Proper and
intended usage
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Safety
Proper and
intended usage
- continued
absolves the manufacturer from all liability! The TH6D system must only
be operated when in perfect technical condition. During the initial
commissioning,
all
necessary
safety
measures
must
be
taken
in
2.6
CAUTION!
Please observe the warrantee and liability claims description!
Warrantee and liability claims for personal injury and damage to property are not possible if they
are attributable to one or more of the following causes:
Operating the TH6D system when safety equipment is defective or not properly
installed, or operating the module when safety and protective devices are not
functioning,
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Safety
2.7
NOTE
Always maintain the signs so that they are in a good, readable condition.
Figure
Item
1
Description
Serial number of the TH6D sensor head
(example)
S/N: 14xxxxxx
Manufacturing date 20xx/xx
1
2
3
3
Labelled connections
5
6
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Safety
2.8
Disposal
Note
The TH6D system can be returned free of charge to Scansonic IPT GmbH
for disposal (excluding delivery charges).
Otherwise, you should dispose of the TH6D system according to
environmental regulations restricting the disposal of electrical waste.
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3.
Product Information
This chapter describes the properties and functions of the TH6D system.
3.1
3.1.1
3.1.2
3.1.3
3.1.4
3.2
3.2.1
3.2.2
3.2.3
3.2.4
3.2.5
3.2.6
3.2.7
3.2.8
3.3
3.3.1
3.3.2
3.3.3
3.3.4
3.3.5
3.3.6
3.4
3.4.1
3.4.2
3.4.3
3.5
3.5.1
3.5.2
3.6
3.6.1
3.6.2
3.6.3
3.7
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Product Information
3.1
Overview
The TH6D system is an optical measuring system that can detect and measure the shape of work
pieces. It is designed for seam tracking during the joining process, but can be used for other
measurement tasks. When integrated in a welding facility with other master machines and
robots, this system can track the seam joint. The TH6D system can also measure the gap width,
the edge offset and the distance of the joint line from the work pieces being welded or soldered.
In addition, the TH6D system measures the orientation of the sensor head over the work piece
surface (the push/drag angles, the lateral angle, the angle of rotation and the vertical axis).
These measurements are used to automatically guide the production facility. The sensor system
records any variations in the work pieces and positions. The weld seam can then be automatically
corrected with high precision and reliability.
The TH6D system is being continuously improved upon and adapted to meet the needs of our
customers. We are also constantly improving the interfaces to available machine controllers. The
TH6D system has proven its usefulness with multiple robot variants in various industrial
reference installations. In these facilities, the seam tracking system ensured that work
piece/positional variances could not impair the welding process.
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Product Information
The laser stripe sensors in the TH6D series provide no-contact detection
mechanism
1
2
3
7
5
Figure 3: TH6D The principle of laser triangulation
Description
Item
Description
Laser diode
Collimator optics
Projection optics
Light detector
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Product Information
S0:
+z
Direction
Sensor origin
Direction of process feed
along the X
S0
axis:
+y
+x
Direction
Lateral correction
along the Y
axis
Direction
along the Z
axis:
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Product Information
3.2
Usage limitations
Overview
The possible usages for optical seam tracking systems are limited by the
physical environmental conditions present during the welding process. The
reflective properties of the work piece's surface are a major factor, since
all measurements are deduced from the reflected beam pattern. Since the
sensor head works in the immediate vicinity of the welding process,
interference emitted by the process should not be able to impair the
sensor functionality. Welding splatter, smoke, flickering light and EMC
interference are all by-products of arc welding.
Possible solutions
There are two possible ways to improve this situation. The laser output
can be increased or the mounted position of the sensor head can be
changed.
More powerful laser output is not always available and results in unwanted
stray light on the work piece and the surrounding clamping mechanisms.
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Product Information
Changing the
If the sensor head is tilted slowly in the direction of travel, the angle L is
mounting position
reduced and thus the maximum of the reflection lobe moves toward the
camera window. The result is a pronounced change in brightness of the
measured lines when the slope of the sensor changes.
The surfaces of real work pieces, particularly for shipbuilding applications,
can be very rough so that the laser beams are scattered diffusely. For
such surfaces, hardly any brightness changes of the measurement lines
should be expected.
Incident beams
Reflected beams
Rough surface
Very strong interference can occur in the sensor camera's field of view
smoke
which can then harm the imaging. Welding splashes, smoke and intense
brightness caused by the arc can interfere with the camera's image. The
bright lines visible in Figure 6 represent splatter (molten welding metal)
that extends radially in all directions from the welding process. Metal balls
which have cooled are already present on the surface of the work piece.
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Product Information
Solution
C-MOS camera
Figure 7: MIG process the inert gas nozzle is clearly visible on the right
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Product Information
Figure 10: Accessibility limitations in a seam curve caused by the forwardleading sensor
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Product Information
Problematic applications may limit the seam tracking system; such limits
can be worked around by changing the position or alignment of the
sensor.
Problem
left
right
1
2
2
3
Solution
left
right
1
2
2
3
Figure 12: Example of a border the lap joint is too large the solution
Information
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Product Information
3.2.6 Influence of the sensor's orientation in relation to the work piece surface
Overview
The mounted position of the TH6D sensor head on the tool must be
flexible since the tool itself has precedence over priority positioning. Thus,
the TH6D sensor head may need to be aligned at an angle lateral to the
seam line or at a drag angle. For this lateral angle, limitations to the
mounting positions are imposed by the diminishing reflection, particularly
when working with smooth or specular surfaces. Field-tested lateral angles
are in the range from 15 to 20 degrees. Other angles may be possible
depending on the shape of the work piece (its T-joint). The TH6D sensor
head is mounted in a lancing or drag angle of 40 degrees perpendicular
to the work piece. The software will not function if the positioning angle is
outside of this range.
For a butt joint, the lower limit of the gap is dependent on the quality of
the surface, with the following dimensions:
TH6D-CFxx-yy at 0.2 mm and
TH6D-KFxx-yy at 1.0 mm.
Preparing the seam can have a significant impact on the seam detection
process. Even minimally rounded edges at the butt joint are very helpful
and can stabilize the seam detection process.
Since the TH6D system only evaluates the work-piece surface, the
measured gap dimension is also strongly dependent on such rounding.
Limitations imposed by the operating voltage are necessary for the proper
functioning of the TH6D system.
NOTE!
Make sure that you are using VDE-compliant and certified
power supplies!
Information
Please
note
the
voltage
specifications
as
listed
in
the
Technical
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Product Information
3.3
Components
Item
Description
Sensor enclosure
Enclosure cover
Protects
the
components
For
attaching
glass unit
Protective
glass
Function
for
sensor
sensor
safety
camera
7
Displays status
Displays status
Terminal area
Power supply
Adjusting parameters
Cooling
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Product Information
The standard safety glass unit uses an extra plastic protective glass to
cover the protective glasses that are built into the TH6D sensor head. This
additional safety glass protects against long-term contamination from
welding splatter and deposits. Thus it is difficult to clean and designed as
a replaceable wearing part.
Increasing the
Splatter and deposits reduce the life of the plastic safety glass. This life
life span
span can be increased by using clean purge air. A hose for purge air can
be connected to the X1 interface for this purpose (refer to section 4.4.9).
The purge air should be turned on and off in a way that prevents
excessive contamination. You may want to have lead time and follow time
for the purge air. This can be useful when
when you are using a long supply
hose and because deposits and steam require some time to remove.
Construction
The safety glass unit consists of a protective plate and the receptacle
which holds the safety glass. (Refer to Figure 14.) The protective plate
shields the unit from radiation coming in from the sides.
1
5
2
3
4
Figure 14:: TH6D safety glass unit
Components
Item
1
Description
Safety glass
Function
Holds the safety glass in place
clamps
2
Protective plate
Protective plate
tabs
4
Safety glass
Receptacle
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the
Page | 3-12
Product Information
Adjusting the
CAUTION!
protective plate
Do not bend the tabs on the protective plate into the
measurement field.
The safety glass unit can be adapted to various types of applications by
gently bending the tabs on the protective plate. Do not bend the tabs into
the sensor's measurement field. You can check that your positioning is
correct by using the "raw data" image area in THxDView.
The controller for the TH6D system runs on the TH6D process computer.
Controlling the sequence of the TH6D system
General tasks
5
2
3
Figure 15: TH6D process computer
Components
Item
Description
Function
Housing
Connection options
Status indication
Mounting rails
On/off switch
Connection options
Power supply
(not pictured)
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Product Information
The TH6D process computer and the TH6D sensor head require a separate
power supply unit to supply power from the mains.
TH6D process
computer
A power supply unit is included in the delivery and is used to supply power
to the TH6D process computer. Section 4.4.12 describes the connections.
Power can be supplied to the TH6D process computer using an industrial
top-hat rail.
head
computer) should be used for the TH6D sensor head. A suitable mains
power supply is available from Scansonic.
NOTE!
For more information on power supplies, please contact
Scansonic or your local service representative.
3.3.5 Cable
Overview
The TH6D system comes with a set of cables. This set consists of one
cable each for the:
Ethernet connection (see Figure 16)
Power supply (see Figure 17)
The cable set can be configured to lengths of 10, 15 or 25 metres. The
number of your cable configuration can be found in the list in section 8.3.
An Ethernet connection is used as the data link from the TH6D sensor
head to the TH6D process computer.
It supports 100BASE-T Ethernet (Fast Ethernet).
Section 4.4.7 describes this cable connection.
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Product Information
Power supply
A separate power supply unit is used to supply power to the TH6D sensor
cable
head. This power supply is built into the production facility. Section 4.4.8
describes this cable connection and pin assignments.
Usage
The
cooling
module
module
can be
used
under
the
following
application
conditions:
An ambient temperature above 45C (seasonal / location)
When the workpieces are preheated before welding (must be
verified)
Longer welding times and with multi-layer
layer welding
ATTENTION!
Refer to section 8.5 for more information on ambient
conditions.
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Product Information
Construction of
The cooling module consists of a heat shield and a cooling block used for
the cooling
module
to shield against
against lateral radiation and to dissipate the heat. The facility's
cooling circuit is used as the heat exchange mechanism.
3
2
Components
Item
Description
Cooling block
Heat shield
Screws
Coolant connections
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Function
the
Page | 3-16
Product Information
3.4
Additional machine-dependent
machine
modules
Overview
The following auxiliary modules are available for the TH6D system:
Analogue-digital interface
Calibration plate
Network cable (patch cable for Ethernet)
3.4.1 Analogue-digital
digital interface (ADF)
Analogue-digital
The analogue-digital
analogue digital interface (ADF) allows you to override and intercept
interface ADF
signals going to or from the TH6D system. A WAGO bus terminal is used
for the ADF. An Ethernet bus coupler is used to communicate with the
TH6D system.
The ADF is also used for the Motoman interface.
Figure 19 shows the standardized construction of the analogue-digital
analogue
interface
(ADF).
The
interface
consists
of
bus
coupler,
digital
Signal input
through the
the TH6D system. This means that a particular analogue output is always
facility controller
Information
Section 4.5.1 includes a description of the types of bus terminals and the
ADF connection. Section
Sectio
8.2 contains more information about the
input/output assignments.
Scansonic_TH6D_AHB_v1.7_en.docx
Page | 3-17
Product Information
The calibration plate helps you to calibrate the tool for various machine
interfaces. The TH6D sensor head is aligned to the tool and the sensor
coordinate system is aligned with the machine coordinate system.
1
2
Figure
Designation
Tip insert
Recommended
when
using laser optics
Cross-hairs
Recommended
when
using a welding torch
insert
Information
Description
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Page | 3-18
Product Information
Characteristics
Information
Scansonic_TH6D_AHB_v1.7_en.docx
Page | 3-19
Product Information
3.5
NOTE!
The status LEDs on the TH6D sensor head display
information about the state of the TH6D system.
The LEDs on the TH6D sensor head display the status of the sensor and
the Ethernet connection.
Functions
Description
P1
P2
P3
POWER indicator
P4
P2
P1
P3
P4
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Page | 3-20
Product Information
Status display
The P1 and P2 LEDs only show the status of the supply voltage. The P3 and
P4 LEDs have the following additional functions:
No.
Colour
P3
Off
Status
Supply voltage is OFF
or the power cable is not connected
Red
Green
flashing light
Green
Off
P4
No Ethernet connection
or cable is not connected
Red
Green
flashing light
Green
rapidly flashing
light
Scansonic_TH6D_AHB_v1.7_en.docx
both
the
Page | 3-21
Product Information
NOTE!
The status LEDs display information about the state
of the TH6D process computer.
The available LEDs display the following functions for the TH6D process
computer.
Status LED
Designation
Description
PWR
HDD
LNK1
ACT1
Network
connection
for
THxDView:
data
being
transmitted
LNK2
ACT2
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Page | 3-22
Product Information
Status indication
The LEDs on the TH6D process computer differ according to their status:
No.
PWR
HDD
LNK1
ACT1
Colour
Status
Green
Off
Flashing orange
Off
Green
Off
Flashing orange
Off
LNK2
Refer to LNK1
ACT2
Refer to ACT1
Blue
Red
Off
No supply voltage
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Page | 3-23
Product Information
3.6
NOTE!
The TH6D sensor head is designed so that it cannot
be plugged in incorrectly. It is easy to connect with
existing power supplies.
X3
X2
X1
X5
X4
No.
Description
X1
X2
X3
X4
Power supply
X5
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Page | 3-24
Product Information
Air cooling
CAUTION!
The enclosure for the TH6D sensor head is made
of aluminium. Never allow water to run through
the cooling channels: this could lead to corrosion!
NOTE!
When using air to cool the TH6D sensor head, you may
use a branch line with reduced pressure as purge air for
the safety glass (refer to the specifications in section 8.4).
Cooling air input
Power supply
NOTE!
The negative terminal for the system supply and laser
supply voltage (0 V) is electrically isolated from the
system ground.
Connection to interface X4
Plug X4
X4 Pin-out
Designation
Pin
assignments
0V__Power
24V_Power
0V__LSK
24V_LSK
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Page | 3-25
Product Information
Ethernet
Connection to interface X5
T Ethernet (Fast Ethernet) is supported.
Only 100-BASE-T
Plug X5
X5 pin-out
M12
M12-L,
shielded, 4-pin, D-coded
Signal
Designation
Pin
assignments
Information
Tx+
Tx-
Rx+
Rx-
overview
1 2
Rear side
10
11 12
13 14
Figure 25:: Connection overview for the TH6D process computer, rear side
Front side
15
Figure 26: Connection overview for the TH6D process computer, front side
Scansonic_TH6D_AHB_v1.7_en.docx
Page | 3-26
Product Information
Connections for
Item
Description
Item
Description
Not used
Power supply
10
Not used
11
Not used
12
Not used
13
Not used
Ethernet (THxDView)
14
Not used
Not used
15
Not used
Not used
The
following
interfaces are
available
for
communicating
with
the
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Page | 3-27
Product Information
3.7
The PC-based THxDView software can be used as an operating / configuration interface in order to manually configure the TH6D system. The
software should be installed on a PC at the facility. The physical interface
between the facility PC and the TH6D system uses an Ethernet connection.
Functions
Communication
Installation
Scansonic_TH6D_AHB_v1.7_en.docx
Page | 3-28
4.
4.2
Returns........................................................................... 4-3
4.3
4.3.1
4.3.2
4.3.3
4.3.4
4.4
4.4.1
4.4.2
4.4.3
4.4.4
4.4.5
Mounting the safety glass unit on the TH6D sensor head .. 4-13
4.4.6
Mounting the cooling module on the TH6D sensor head .... 4-15
4.4.7
4.4.8
4.4.9
4.4.10 Connecting the liquid coolants to the cooling module ........ 4-21
4.4.11 Installing the TH6D process computer ............................ 4-22
4.4.12 Connecting the power supply to the TH6D process
computer .................................................................... 4-23
4.4.13 Connecting a user PC for the THxDView configuration
software ..................................................................... 4-24
4.4.14 Overview of connections without the machine interfaces ... 4-25
4.5
4.5.1
4.5.2
4.5.3
4.5.4
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Page | 4-1
4.1
NOTE!
Depending on your particular configuration, your TH6D
system may differ from the TH6D system described here.
The ordering documentation sent to you contains a more
detailed
overview
of
your
TH6D
sensor
system
configuration.
Included in the
delivery
Base
Optional
head
(Scansonic
Transportation
damages, etc.
Storage or
Keep the original packaging for storage or for the event that you need to
disposal of
packaging
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Page | 4-2
4.2
Returns
Information
WARNING!
Hazardous residues!
Clean the TH6D system before you send it back!
When shipping the TH6D system back, be sure
that you first package it safely!
Fill out the Contamination Declaration form.
Be sure to package the TH6D system safely when returning it for service
or repair. Proper packaging will protect service and shipping personnel
from any hazardous residual gases.
Cleaning
4.3
If the TH6D system is extremely dirty, clean it and all its cable thoroughly.
DANGER
Danger to life and limb!
The TH6D system should only be mounted and
operated by trained personnel.
Be sure to observe the following:
You configuration should be installed on the
master machine only after all currents and
pressures are switched off.
The facility operator should limit access to the
working area (the danger zone).
Stop the automatic run mode by opening up the
protective disconnect or interlock mechanisms.
The power supply for the processing devices
should be routed through the facility's emergencystop control circuit.
The emergency-off mechanism and all other
control equipment must fulfil the requirements
stipulated in DIN IEC 60204-1 and DIN EN ISO
13849-1.
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Page | 4-3
system in its
original
condition
Routing the
cables and
Make sure that you preserve the motion capabilities of the TH6D system
and master machine when routing the connecting cables and media lines.
media lines
DANGER
Danger from laser radiation!
Follow the specifications concerning the laser
radiation, as described in section 2.2!
Always observe the proper safety procedures for
working with lasers!
CAUTION!
When operating in a humid environment, make sure that
the built-in safety glasses do not fog up.
The TH6D system is designed to be used in standard welding facilities or
laser processing cells. Thus it can be considered as a part of a laser
facility. Take all necessary protective measures in the danger zone. Access
to designated laser radiation areas must be restricted properly.
Observe the condensation and moisture specifications for the ambient
temperature
and
coolant
water
temperature.
Sharp
temperature
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Page | 4-4
CAUTION!
Before each use of the TH6D system, make sure that the
safety glass unit is securely mounted to the TH6D sensor
head and that it is fitted with a clean safety glass!
NOTE!
As the quality of the seam detection decreases, the
likelihood increases that the optical elements will get dirty.
Dirty optical elements on the TH6D sensor head decrease the quality of
the seam detection. Only use sensor systems with clean built-in safety
glasses. Only use clean glass in the safety glass unit!
Please refer to the instructions for cleaning and replacement in Chapter 6.
Important
Contact customer service if the safety glasses built into the TH6D sensor
head become dirty. Only Scansonic service technicians are authorized to
clean and repair the internal sensor modules.
Information
The set-up and installation check-list contains starting points for inspecting
the TH6D system installation before initial use. We assume that you have
followed all safety notices and instructions found in this manual, and that
all training related to the installation was carried out.
The check list covers usage with a robot or master machine.
Check list
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Page | 4-5
4.4
Inspection
Function
NOTE!
Follow the check lists for set-up and installation
found in section 9.2.
The TCP, sensor origin and advanced tracking are used to determine the
tool position in relation to the TH6D sensor head.
TCP
The tool position is described by the "tool centre point (TCP)". This is a
theoretical reference point defined at a suitable position on the tool in
relation to the work piece.
Sensor origin
The "sensor origin" (S0) is used to specify the desired spatial position of
the TH6D sensor head. The sensor origin describes the centre of the
measuring range.
Advanced tracking
The distance from the TCP to the sensor origin is referred to as the
"advanced tracking". This advanced tracking is necessary for determining
the position of the TCP in relation to the sensor origin during measurement
and processing.
Information
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Page | 4-6
Position of the
sensor origin
The defined position of the sensor origin (S0) is 150 mm from the lower
edge of the sensor head. (As shown in Figure 27.)
Please refer to the dimensioning sheet for your TH6D system and the
specifications found in 8.1 for more information.
Advanced
tracking
S0
S0
TCP
Figure 27: Sensor origin for the TH6D sensor head (CF variant)
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Page | 4-7
NOTE!
The enclosure for the TH6D sensor head is made of
aluminium. Be sure that you use the specified
tightening torques!
The following torque specifications and minimum screw-in depths pertain
to the screws on the TH6D sensor head.
Screw size
Note
Screw-in depth
Torque
M3
3.5 mm
0.56 Nm
M4
4.5 mm
1.30 Nm
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Page | 4-8
ATTENTION!
The TH6D sensor head must always be properly earthed
(grounded)!
There are two ways to earth the TH6D sensor head:
Via the robotics interface,
Or via the power supply.
It is possible to earth the TH6D process computer.
But it is not permitted to earth the TH6D sensor head via the TH6D
process computer. The Ethernet connection does not constitute an
electrical connection to the TH6D sensor head.
Variant 1
24V_Power
0V_Power
24V_LSK
0V_LSK
Shield
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Page | 4-9
Variant 2
The robot's earth can also be connected with a cable to the earthing screw
(B) on the TH6D sensor head's housing (refer to Figure 29).
Connect the TH6D sensor head with the robot.
You can install an isolator (C) between the TH6D sensor head and
the robot.
Connect the robot's earth with the earthing screw on the housing
of the TH6D sensor head.
If this is the case, do not connect the THxD power cable shield
to the earth on the power supply (A) of the TH6D sensor head.
C
B
24V_Power
0V_Power
24V_LSK
0V_LSK
Shield
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Page | 4-10
WARNING!
power supply
Electric current can cause damage.
Connect the welding
facility's earth.
power
source
with
the
24V_Power
0V_Power
24V_LSK
0V_LSK
Shield
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Page | 4-11
The installation of the TH6D sensor head in relation to the process should
be positioned as follows:
In general: The TH6D sensor head should be attached in advance
of the tool (as shown in Figure 31).
Distance to the surface of the work piece: 150 mm from the
sensor's lower edge (without the safety glass unit! as shown
in Figure 27).
The system must be able to travel around interference contours
presented by clamping jigs or other objects without touching them.
When required, the TH6D sensor head can be mounted to the
master machine at an arbitrary angle to the surface of the work
piece.
The angular position of the TH6D sensor head must allow sufficient
reflections to be recorded in the sensor measurement field so that
sufficient raw data is visible in THxDView.
Information
8
6
1
5
2
3
S0
TCP
+y
+x
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Page | 4-12
Description of
Item
Description
Item
Description
components in
Figure 31
Master machine/robot
Orientation of the
The precise orientation of the TH6D sensor head to the process must be
4.4.5 Mounting the safety glass unit on the TH6D sensor head
Overview
NOTE!
Measurements during the (joining) process should only be
made when a safety glass unit with a clean safety glass
has been attached to the TH6D sensor head!
The safety glass unit (included in delivery) should be attached to the TH6D
sensor head in order to protect the sensor head while it is processing the
work piece. This protective glass unit includes a second protective glass,
which is positioned in front of protective glass panes that are built into the
sensor head.
Installing the
safety glass unit
Align the safety glass unit with the shape TH6D sensor head (as
shown in Figure 32).
Put the safety glass unit on the TH6D sensor head by inserting the
pins (1) into the corresponding holes.
Press the safety glass unit against the TH6D sensor head until the
retaining springs click in with an audible click.
NOTE!
The safety glass unit is properly seated when its edges are
flush with the TH6D sensor head.
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Page | 4-13
Protective plate
NOTE!
You can adapt the plate to your particular application by
manually bending the tabs along the unit's plate so that
the protected area changes.
Caution: Do not bend the plate into the sensor's
measuring range! Check the positioning of the tabs in
the "Raw data" imaging area within THxDView!
Removing the
safety glass unit
Pull the safety glass unit out of the TH6D sensor head's enclosure.
Remove in the opposite direction of installation.
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Page | 4-14
The cooling block and heat sink for the cooling module are delivered as
individual parts. They must be mounted directly on TH6D sensor head.
Installing the
ATTENTION!
cooling module
Be sure that you use properly sized screws!
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Page | 4-15
4.4.7 Connecting the Ethernet cable to the TH6D sensor head and process
computer
Overview
CAUTION!
Danger of surge voltage!
Disconnect the power supply before connecting the
cable to the components!
In order to communicate, the TH6D sensor head must be connected with
the process computer via an Ethernet cable. This connection is described
below.
Connection details
4
Type (TH6D sensor head) M12 device connector (male plug, 4pole, shielded, D-coded)
Type (TH6D process computer) RJ45 connector
Cable designation: Ethernet Mxxxxxx (the number of your cable
configuration can be found in the list in section 8.3).
Connection
Connection
Description
assignments
X5
to
11
Ethernet
X5
11
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Page | 4-16
Connecting
To the TH6D sensor
head
To the TH6D
process computer
Disconnecting
The male and female plugs should be connected in the following way:
Align the female plug according to the coding and insert into the
X5 plug. Tighten by turning the coupling nut clockwise.
Align the male plug according to the coding and insert into the
socket (11) until you hear it click.
The male and female plugs should be disconnected in the following
manner:
Turn the coupling nut counter-clockwise and pull the socket from
the plug (X5).
Press the safety levers on the connector housing towards the plug.
Pull the plug out of the socket (11).
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Page | 4-17
NOTE!
The TH6D sensor head is designed so that it cannot
be plugged in incorrectly. It is easy to connect with
existing power supplies.
A separate mains power supply should be used for the TH6D sensor head.
A suitable mains power supply is available from Scansonic. The socket on
the TH6D sensor head is located on the top of the sensor's enclosure.
Connection details
NOTE!
The shield of the power cord should be connected to the
protective earth (PE) terminal on the mains supply.
Type (TH6D sensor head): M12 device connector (male plug, M12L, 4-pole, shielded, A-coded)
Type (system controller): Open-ended cable for use with main
power supply from Scansonic
Cable designation: Power Mxxxxxx (the number of your cable
configuration can be found in the list in section 8.3).
NOTE!
Power supply and laser protective circuit (0 V) are
electrically isolated from the system ground.
Pin
out assignments
(M12)
Colour
Signal
Brown
0V_Power
Power supply
White
24V_Power
Power supply
Green
24V_LSK
Yellow
0V_LSK
Black
Shield
Shield
Scansonic_TH6D_AHB_v1.7_en.docx
Designation
Page | 4-18
Connection
Connection
Customer
Customer-specific
mains power
assignments
supply unit
to
X4
Refer to pin-out
pin
X4
Mains
power
supply
unit
Align the female plug according to the coding and insert into the
X4 plug. Tighten by turning the coupling nut clockwise.
Turn the coupling nut counter-clockwise
clockwise and pull the socket from
the plug (X4).
4.4.9 Connection for the cooling and purging air at the TH6D sensor head
Overview
WARNING!
Excessive pressure in the media lines can lead to
eye and ear damage or other injuries!
Always wear the proper protective eye glasses, ear
protection,
and
clothing
when
changing
pressurized lines and hoses!!
CAUTION!
Be careful to avoid damaging the equipment!
Follow the compressed air specifications for the
TH6D sensor head as described in section 8.4.
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Page | 4-19
NOTE!
The enclosure for the TH6D sensor head is made of
aluminium. Never allow water to run through the cooling
channels: this could lead to corrosion!
Connection
Connection diagram
X3
X2
X1
Figure 37: Connecting the cooling and purging air to the TH6D sensor
head
Connection
Description
Diameter
X1
4 mm
X2
6 mm
tracking
X3
Description of
connections
6 mm
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Page | 4-20
4.4.10
WARNING!
Be careful to avoid damaging the equipment!
Follow the liquid coolant specifications for the
cooling module as described in section 8.4.
ATTENTION!
The enclosure for the TH6D sensor head is made of
aluminium. Never allow water to run through the
cooling channels in the TH6D sensor head: this could lead
to corrosion!
Connection
Connection diagram
X6
X7
Connection
Description of
connections
Description
Diameter
X6
6 mm
X7
6 mm
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Page | 4-21
4.4.11
CAUTION!
Pay
attention
to
your
cable
lengths
and
installation options!
The TH6D process computer can be installed at various positions on
mounting rails. (Additional mounting hardware is not included in the
delivery.)
Installation
NOTE!
Do not mount the TH6D process computer on a robot axis;
this could cause damages during operations.
However, a static installation to a robot foot or on a
transport trolley is possible.
Mounting rails (1) have been pre-assembled
assembled to the bottom of the
TH6D process computer.
The TH6D process computer should be installed in a clean
environment (e.g. an electrical cabinet) that is protected from
dust, dirt and water.
For optimal heat dissipation, the TH6D process
proce computer should be
mounted in a vertical position on the mounting rails (be sure to
take the cable lengths into account).
Make sure that the operating temperatures are not exceeded (refer
to section 8.5).
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Page | 4-22
4.4.12
DANGER
Electrical shock danger risk of injury!
Disconnect the power supply for the production
facility before working on the TH6D system!
A power supply unit is included in the delivery and is used to supply power
to the TH6D process computer. The connection is located at the rear of the
TH6D process computer's case.
NOTE!
Power can also be supplied to the TH6D process computer
using an industrial top-hat rail. For more information on
power
supplies,
please
contact
your
local
service
representative.
Connection details
Connection
Connection
assignments
to
TH6D process
computer
Connecting
Disconnecting
Align the plug according to its coding and insert in the socket (2).
Pull the plug out of the socket (2).
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4.4.13
CAUTION!
Danger of surge voltage!
Disconnect the power supply before connecting the
cable to the components!
The TH6D system is configured with the THxDView software, which must
be installed on a user PC.
An Ethernet cable connecting the TH6D process computer must be
installed so that the TH6D system can communicate with the user PC.
This connection is described below.
Information
Connection details
Connection
Connection
User PC
assignments
Ethernet jack
to
Ethernet
jack
Connecting
Align the male plug according to the coding and insert into the
corresponding socket until you hear it click.
Disconnecting
Press the safety levers on the connector housing towards the plug.
Pull the plug out of the socket.
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4.4.14
Section 4.4.8
Section 4.4.12
11
Section 4.4.13
Section 4.4.8
X4
X1
X5
X3
X2
Section 4.4.9
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Page | 4-25
4.5
The communication links for the TH6D process computers and the
customer's Fieldbus can use various implementations.
The analogue-digital
analogue digital interface is required when using analogue and digital
interfaces to communicate with the TH6D process computer.
A list of switchable system functions is included with the delivery of the
product and also provided in section 8.2.
Analogue-digital
interface ADF
BC
DI
DO AO ET
Component
Colour
Bus terminal
Inputs/
type
outputs
BC
Bus coupler
ET
End terminal
DI
Digital In
16
DO
Digital Out
Red
AO
Analogue
Blue
Analogue
Out
Scansonic_TH6D_AHB_v1.7_en.docx
Yellow
output
(AO)
Page | 4-26
CAUTION!
Danger of surge voltage!
Disconnect the power supply before connecting the
cable to the components!
Connection details
Connecting the
ADF
Connect the ADF to the TH6D process computer using the supplied
Ethernet cable according to the following assignment:
Connection
ADF
assignments
Bus coupler (BC)
to
10
TH6D process
computer
10
Connecting
Disconnecting
Align the male plug according to the coding and insert into the
socket until you hear it click.
Press the safety levers on the connector housing towards the plug.
Pull the plug out of the socket (10).
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Page | 4-27
Information
Connection
options
DANGER
Electrical shock danger risk of injury!
Disconnect the power supply before working on
the analogue-digital interface!
Connecting two
Connect the two power sources with cables as follows (as shown in Figure
external power
45):
sources
24 V
Bus coupler
24 V
Earthing
Bus terminals
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Page | 4-28
Parallel connection
Connect one power source with cable as follows (as shown in Figure 46):
from an external
voltage source
Pass-though
connection of 24 V
to bus coupler
24 V
Bus terminals
Earthing
Connecting
Disconnecting
Attach wire-end ferrules to the cable ends and insert into the
corresponding socket.
Pull the cable end out of the socket.
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Section 4.4.8
Section 4.5.2
Section 4.4.12
10
Section 4.5.1
Section 4.4.13
11
Section 4.4.8
X1
X4
X5
X3
X2
Section 4.4.9
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CAUTION!
Danger of surge voltage!
Disconnect the power supply before connecting the
cable to the components!
Make sure that each Fanuc robot being used has the proper hardware and
software configuration for sensor management.
Connection details
NOTE!
For more information, please contact your Fanuc
service representative.
Connection
Connection
Fanuc controller
assignments
to
CD38A or CD38B
5
5
Connecting
Disconnecting
Align the male plug according to the coding and insert into the
socket until you hear it click.
Press the safety levers on the connector housing towards the plug.
Pull the plug out of the corresponding socket.
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CD38A /
CD38B
Section 4.4.12
5
11
Section 4.4.13
Section 4.5.4
Section 4.4.8
X1
X4
Section 4.4.8
X5
X3
X2
Section 4.4.9
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5.
5.2
5.3
5.3.1
5.3.2
5.3.3
5.4
5.4.1
5.4.2
5.5
5.6
5.6.1
5.6.2
5.7
5.7.1
5.7.2
5.8
5.8.1
5.8.2
5.8.3
5.8.4
5.9
5.9.1
5.9.2
5.10
5.11
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5.1
CAUTION!
information
Follow all the information in Chapter 4 during the
installation and assembly of the TH6D system!
The commissioning and operation have been divided into hardware- and
software-related procedures.
Software
Hardware
NOTE!
Follow the check lists for set-up and installation
found in section 9.2.
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5.2
CAUTION!
The THxDView configuration software must be installed on
a separate PC. This user PC and THxDView are thus not
affected when the TH6D system is switched on or off.
The TH6D sensor head and the TH6D process computer can be switched
on/off individually or as a complete TH6D system via the main switch.
Since
the
interface
to
the
supply
voltage
can
have
separated
NOTE!
Three signal beeps can be heard as the TH6D process
computer is booting up. A double beep can then be heard
after the computer has booted up successfully. Any
deviation from this beep tone sequence indicates an error.
Sequence for
switching on
Switch-on time
Information about
switching on
standby mode after the power supply is switched on. Thus it may need to
be switched on manually.
If the status LED on the ON/OFF switch (7) of the TH6D process computer
is red, press the switch briefly to start up.
Section 3.5.2 contains more information on the status displays and
position of the ON/OFF switches.
NOTE!
If the power supply is interrupted to the TH6D process
computer while it is switched on, then you should switch
the TH6D sensor head and the TH6D process computer
back on.
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Information
about
from the TH6D system. If the TH6D system is switched off before
disconnections
Switching off
5.3
The THxDView GUI software is used to set and monitor parameters while
working with the TH6D system.
NOTE!
THxDView is licensed software!
Information
PC hardware
Operating
systems
Memory
NOTE!
A local Java application is installed with the software. This
Java application will also be removed if you uninstall
THxDView.
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CAUTION!
Make sure that THxDView is not blocked by any security
programs running on the user PC.
The following are required in order to install and use the THxDView
software:
Administrative access rights on the user PC
Compatibility with the firewall and anti-virus software installed on
the user PC
Establishment of a peer-to-peer connection
Network connection settings made by the administrator account
NOTE!
The illustrations used here to show the software and
installation may vary visually depending on your operating
system. However the content and functionality will be
similar.
Starting the
installation
Otherwise
Initialization
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Installation
information
License
agreement
Read the license agreement in its entirety.
Click on the "I Agree" button in order to accept the terms of the
license agreement and start the installation, or
Click on "Cancel" if you do not accept the license terms. The
installation will then be aborted.
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Changing the
installation path
You can change the pre-set installation directory as follows: (As shown in
Figure 53.)
Click on the "Browse" button (1).
1
2
Selecting the
installation
directory
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Progress of
The required files are now copied to the hard drive. The status bar shows
installation
Finishing the
installation
The installation ends with the windows shown in the illustration. (As shown
in Figure 56.)
Click on the "Finish" button.
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5.4
Using THxDView
Overview
NOTE!
The user PC's subnet must be set to match the IP address
of the TH6D process computer before any connection
between the two computers can be established.
Otherwise
From the Windows Start menu, find THxDView under the following
sub-menu:
scansonic \ THxDView \ THxDView
Start-up window
THxDView starts with the following window. (As shown in Figure 58)
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User login
You must first login before you can work with THxDView or change
settings.
Information
Exiting
CAUTION!
THxDView
Data loss is possible!
Make sure to save any changes you made to the
parameters before you exit THxDView!
More information can be found in section 5.14.9.
Click on the "Exit" button (in upper right, as shown in Figure 59)
in the opened window in order to exit.
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Designation
No.
Designation
Menu bar
Image area
Information area
Reports area
Parameter configuration
area
6
1
Brief summary
The following list gives a brief summary of the user interface areas in the
THxDView software.
Menu bar
The menu bar (1) contains options for settings (refer to section 5.5):
Logging in
Extras
Image area
Help
Selecting a system
The image area (2) allows you to choose between two different methods
for representing the laser beams on the work piece:
Raw data
(refer to section 5.6.1)
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Evaluation
(refer to section 5.6.2)
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Reports area
System status
area
The system status area (4) shows the status of the TH6D system. The
following information is displayed:
Network connection between the TH6D process
computer and the user
PC (section 5.8.1)
Operating mode (section
5.8.2)
Information
area
configuration
The information area (5) informs about system parameters and provides
help for the configuration. The following information is displayed:
Measurements
(section 5.9.1)
Parameter
Parameters can be set in the parameter configuration area (6). This area
is divided into the main tabs:
area
Profiles (section 5.11)
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5.5
Menu bar
Menu bar
Login
The "Login" option allows you to select an access level for users of the
TH6D system. More information can be found in section 5.14.1.
Extras
Help
Selecting a
The "Select System" option allows you to manage the sensor systems,
system
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5.6
Image area
The "Raw Data" tab shows the laser lines resulting from the preliminary
evaluation in the TH6D sensor head. (As shown in Figure 63.)
The white lines indicate the edges of the work piece. The yellow dots
indicate where a seam has been detected (seam points = SP).
The laser lines are projected from the TH6D sensor head out towards the
camera's field of view. Since the camera in the TH6D sensor head is
protected against extraneous light by a narrow-band optical filter, only
those areas of the work piece surface which are illuminated by the laser
lines are visible.
The coordinates for the "Raw Data" sensor image are defined as follows:
X = gap between the laser lines
Y = direction lateral to x
Z = height
SP
+z
-z
+y
-y
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The "Evaluation" tab shows the results of the analysed raw data. This
main tab
provides the user with information on the lateral and vertical positioning
to the joint. (Refer to Figure 64 and Figure 65.)
Measuring inactive
Possible
displays, with
example of Vseam
Measuring activated
The green lines indicate
those sections of the laser
lines recorded by the
camera
that
can
be
analysed.
The measurement points
on the detected seam are
marked in yellow.
Note
NOTE!
Flickering green lines and yellow dots indicate locations
with insufficient seam detection. Fine tuning of the
settings in THxDView can help fix this.
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5.7
Reports area
The "Errors and Warnings" section of the Reports area can be found in the
lower left part of the THxDView window. This section displays errors,
warnings and additional information. (As shown in Figure 66)
Information
5.7.2 Events
Overview
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5.8
The "System Status" area is located in the lower right of the TXxDView
window. It displays the status of the TH6D system. This area displays the
network connection between THxDView and the TH6D process computer,
the
operating
mode,
the
active
measurement
process
and
the
The current status of the network connection between THxDView and the
TH6D process computer is displayed in the left section of the "System
Status" area. (Refer to the marked area in Figure 69.)
No TH6D process
computer found
No TH6D process
computer is connected to
the user PC
Search is
periodically
Connection is successful
Possible status
repeated
Network communication
is blocked by THxDView
The current status of the operating mode is shown in the second (from
left) section in the "System Status" area.
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Automatic mode
Possible status
Set-up mode
Operating mode
Description
Automatic
operating modes
and
parameters
can
be
CAUTION!
operating mode
It is not possible to change modes during active
processing
in
automatic
mode!
Wait
until
the
The current status of the measuring process is shown in the third (from
left) section in the "System Status" area. (Refer to the marked area in
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Figure 71.)
Possible status
The
displays
for
the
quality
of the
measuring
process
and
the
quality of the
measuring
process
shape of the work piece and the measurement path across the work
piece. A definitive conclusion about measuring quality differences can
only be made by comparing the measurements from identical test pieces
and analysing the measurement data.
Measuring
manually
while in set-up mode. The status display also serves as a button for this
activated /
deactivated
function.
Click on the button to activate or deactivate a measurement
process.
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The status of the active job is shown in the fourth (from left) section in
the "System Status" area. (As shown by the marked area in Figure 72.)
This status is visible in automatic mode and set-up mode.
In this example, the active job includes the seam pattern profile
"a1_seam", the camera profile "a1_camera", the calibration profile
"a1_calibration" and the process control profile "a1_process_control".
NOTE!
The TH6D sensor head is not activated when the TH6D
system is in automatic mode and receives no job number
from the robot controller.
Possible status
Job is active
Displays the active job compilation
Manual mode (P)
active
job
compilation
("job
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5.9
Information area
Overview
NOTE!
The measured values are only displayed while in set-up
mode. No measurements are displayed while in automatic
mode.
Displayed
measurements
The measured values displayed by the sensor system are related to the
sensor
coordinate
system
which
influences
the
process
or
the
position/track corrections.
Process influences: gap width, step height (mismatch), surface
Position influences: x, y, z,A, B, C (left / right)
Information
CAUTION!
Output data does not need to match the data sent to the
robot! It is transformed based on the defined machine
protocol.
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The "Sketch" tab in the information area provides graphic support to help
"Sketch" tab in
the
information area
graphical
display
can
be
used
as
guide
for
interpreting
the
corresponding parameter.
NOTE!
Explanatory
diagrams
are
not
yet
available
for
all
parameters.
The example in Figure 74 shows a diagram to explain the angle
parameter setting (on the left).
Figure 74: Information area diagram (example for adjusting the angle)
Structure
The main sketch tab is divided into two sections. In the upper section
examples of the currently selected seam pattern profile are shown. At the
bottom of the section the selected parameter is explained graphically.
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About the
NOTE!
parameter values
The default values and allowed value ranges are shown
when a parameter is selected.
When selecting or modifying parameters, the default values and the
allowable value range is shown above the tab label as a guide. (Refer to
the example in Figure 76)
Information
Sections 5.11 and 5.12 describe the parameters and their functions.
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Profile
These main tabs allow you to specify and change parameters in order to
optimize the seam tracking. The functions of each main tab and their
associated sub-tabs are described below.
Profiles
No.
Designation
Description
Seam pattern
Camera
Calibration
Sequence
controller
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5.11.1
The "Seam Pattern" tab allows you to select pre-defined seam pattern
profiles (templates). These templates contain specific parameters for
recording the seam shape.
By changing the parameters in the pre-designed templates, it is possible
to create custom seam pattern profiles.
Information
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5.11.2
NOTE!
Pre-defined seam pattern profiles are marked with the
word
"(template)"
in
their
profile
names.
Saved
NOTE!
Changed seam pattern templates must be saved under a
different name! When restarting the TH6D system, the
default
values
are
re-loaded
into
the
pre-defined
templates.
Templates for the
seam pattern
A drop-down list in the "Seam Pattern" tab allows you to select from the
following templates for seam pattern profiles. (As shown in Figure 80)
profiles
Open edge
V-Area
TB-Area
Overlap seam
HY-seam
M-Depth
Tailored blank
U-Seam
V-seam
HU-seam
Information
NOTE!
The "Sketch" information area contains helpful information
describing the parameters.
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Open edge
The "open edge"" seam pattern profile specifies a special form which can
be used for all processes that run parallel to a work piece edge.
Example
application
After cutting glass, the edge can be ground or an adhesive can be applied
to the work piece edge in parallel.
Overlap seam
The "overlap seam"" seam pattern profile can be used in a process where
the work piece edges overlap. Figure 82 shows an example of the overlap
joint.
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Tailored blank
Gap a
Offset d
TB-Area
The seam sample profile "TB-Area" is suitable for geometries which are
not defined as a standard seam pattern.
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V-seam
The seam sample profile "V-seam" can be used in applications where the
seam has been prepared or where V-shaped
shaped work pieces are positioned
next to each other.
Information
V-Area
The seam pattern template "V area" is suitable for applications of thick
sheet metal, and for the multi-pass
pass welding where the seam area is
needed to calculate the number of layers.
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HY-seam
Pending
U-seam
Pending
HU-seam
Pending
M-Depth
Parameter
NOTE!
The "Sketch" area contains helpful information describing
the parameters for the seam pattern profiles.
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5.11.3
NOTE!
The particular parameters contained within a seam pattern
profile vary according to each profile.
The parameters described below can be used and changed in order to
optimize a seam pattern profile. Not all parameters are included in each
seam pattern profile.
Line quality
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In Figure 90, the "Evaluation" image area shows (A) the raw image of a
quality of a overlap
rough surface of the work piece. No changes to the parameters are made
seam
here.
In Figure 90, a line quality of "fine" has been selected (B) for this work
piece surface. There are many scattered line elements visible here. This
makes the seam detection more difficult.
In Figure 90, a line quality of "very coarse" has been selected (C) for this
work piece surface. Multiple line elements have been merged together so
the seam detection is functioning well.
A
Raw data
Open edge
V-seam
U-Seam
Overlap seam
V-Area
HU-seam
Tailored blank
HY-seam
TB-Area
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Pattern location
Reference area
Open edge
HY-seam
Overlap seam
U-Seam
Tailored blank
HU-seam
TB-Area
Information on the
overlap seam
For the "overlap seam" pattern, if the TH6D sensor head is aligned
diagonally to the joint (as shown in Figure 91 A and B), then the
measured mismatch is specified as the gap. If this gap is greater than 0.5
mm, then a reference area must be selected. Otherwise there will be no
seam detection.
Gap
+z
+y
+z
+x
+y
+x
Overlap seam
V-Area
HU-seam
pattern profiles
Tailored blank
HY-seam
TB-Area
V-seam
U-Seam
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TCP alignment
"TCP alignment" is used to specify the precise position of the seam point.
The point may lie on the left or right end, or between the end points and
the laser lines.
left
middle
right
Depth
Open edge
V-seam
U-Seam
Overlap seam
V-Area
HU-seam
Tailored blank
HY-seam
TB-Area
"Depth" is used to specify the distance from the top edge to the bottom
edge of the work piece. The depth parameter must be specified so that
the TH6D system can properly calculate the area.
Information on the
When using the "HV-seam" pattern and when the TH6D sensor head is
HV-seam
aligned diagonally to the joint, the seam is not detected over the entire
depth of the work piece joint. Instead, the detection is carried out until
the start of mutually parallel work piece edges of the joint.
+z
+y
+x
HY-seam
pattern profiles
U-Seam
TB-Area
HU-seam
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Angle
The "angle" setting (left/right) is used to help avoid detecting false joints
left/right
on the work piece. You can eliminate multiple reflections in the evaluation
by specifying the correct inclinations of the laser lines. This results in a
more stable seam detection process.
It must be possible to distinguish between the left and right angle since
the angle is being measured from the joint line to the adjacent level. In
the lines "angle left/right", the left value represents the smallest border
while the right value
e represents the largest border of the angular range.
Note
The
"angle
left/right"
parameters
refer
to
the
two
two-dimensional
Opening angle
Open edge
V-seam
U-Seam
Overlap seam
V-Area
HU-seam
Tailored blank
HY-seam
TB-Area
V-seam
pattern profiles
V-area
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Initial
al Commissioning and Operation
Interference at
When working with reflective surfaces (aluminium or CrNi steel), the joint
the seam
V-seam
pattern profiles
V-area
Mismatch
Note
Overlap seam
U-Seam
pattern profiles
Tailored blank
HU-seam
HY-seam
TB-Area
Gap
"Gap" defines a gap at the joint between the work pieces. When using the
seam shape "tailored blank",, it is possible (and sometimes desired) that
there will be a gap at the joint line. (As shown in Figure 96.)
Note
The parameters "Mismatch" and "gap" are very helpful for eliminating
visual ambiguities in the camera image.
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Tailored blank
HU-seam
HY-seam
TB-Area
U-Seam
Interpolation
point tolerance
(l,v)
seam point in the side (S) and height (H) directions. It is used to
calculate and evaluate the seam tracking. This is useful when there is
minor damage to work piece edges which could cause an excessive
excessi
gap at
the joint line (for example, on an overlap seam).
Example
In the example shown in Figure 97,, the end point of the left middle line of
the joint line (vertical with red dashes) is too far away which corresponds
to a gap.
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Example
For example, by specifying a value of 1 for the "side" parameter (S), the
continued
Overlap seam
U-Seam
pattern profiles
Tailored blank
HU-seam
HY-seam
TB-Area
Search area
left/right
Open edge
V-seam
U-Seam
Overlap seam
V-Area
HU-seam
Tailored blank
HY-seam
TB-Area
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Line length
By specifying the length of line,, only line elements for the joint detection
(left/right)
Open edge
V-seam
U-Seam
Overlap seam
V-Area
HU-seam
Tailored blank
HY-seam
TB-Area
Line diff.
The "Line diff. (A, L)" parameter is used for smoothing those line eleele
(A, L)
ments that do not lie precisely on the theoretical line direction (angle =
A).
). It is also used to merge small gaps (gap = L).
Tailored blank
HY-seam
V-seam
U-Seam
V-Area
HU-seam
TB-Area
Preferred joint
position
the seam position so you can eliminate ambiguities during the seam
detection. This eliminates the risk of faulty detection. It can be used, for
example, when an additional edge is located under the selected work
piece
ce edge or when a clamp causes two steps of equal height to be
visible.
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Examples of
Figure 100 shows two overlapping overlap seams; the position of the
preferred joint
position
Left/Right
By choosing the parameter "joint is on the left" or " joint is on the right",
the detection of the seam position occurs in the middle position between
the two higher or two lower lying surfaces. (As shown in Figure 101)
Position of the seam on the left
Information
Open edge
HY-seam
Overlap seam
U-Seam
Tailored blank
HU-seam
TB-Area
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5.11.4
Camera tab
Overview
Camera profiles
Templates and custom camera profiles can be selected from the dropdown list.
5.11.5
Dynamic range
extension
Exposure time
NOTE!
Usually a short exposure time is recommended.
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Laser power
The "Laser power" parameter affects the power of the laser diode. At
higher power, the intensity of the laser light is increased. The actual
setting of this value must be tested on the work piece. There is no
recommended value for this parameter, since there are many variable
factors for each situation (the sensor orientation, shape of the work piece
surface, reflective properties or the surface, etc.). The brightness should
only be set as bright as required. Unnecessary brightness would shorten
the lifespan of the laser diode.
5.11.6
Calibration tab
Overview
CAUTION!
The calibration depends on the machine in use. It is only
required when the TH6D system is used with linear axes
and Kuka robots.
Calibration data must be specified in order to define the advanced
tracking compensation between the sensor origin and TCP. This is
accomplished by assigning the measured data in the sensor coordinate
system to the tool.
The
"Calibration"
tab
allows
you
to
select
pre-defined
profile
Note
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5.11.7
+z
A
+x
+y
B
TCP
S0
xs
Figure 104: THxDView parameters for calibration
S/N sensor
Orientation
Offset xs
Gap between TCP and the centre of the "tip" or "cross-hairs" insert of the
calibration plate (manual entry)
Tool ABC
S0 position
S0 orientation
Advanced
tracking
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5.11.8
CAUTION!
The parameters and parameter functions in the "Process
Control" tab depend on the selected machine interface.
The "Process Control" tab allows you to select pre-defined profiles
(templates) which contain specific parameters for the machine-dependent
process control of the TH6D sensor head. By changing the parameters in
the pre-designed templates, it is also possible to create custom profiles.
Example
Figure 105 shows an example of the process control of the overall A/D
corrective interface. The analogue voltages can be scaled here and also
assigned an offset. The user can check off which parameter should be
sent as a voltage value to the controller.
Information
The interface can be chosen from the main "System" tab and then the
sub-tab "Machine Interface" (section 5.12.2).
Section 5.9 describes the interface-specific parameters.
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The "System" tab allows you to configure a job list and select the
"System"
machine interface. This is also where the operating range of the analysis
software can be configured.
Tab
No.
Name
Description
Job list
Machine Interface
Configuration
5.12.1
The "Job List" tab can be used to create jobs from the parameter profiles
that have already been defined in the "Profile" main tab.
The user can create jobs for specific applications. These are then saved
on the TH6D process computer. For the actual processing, the facility
controller invokes the job needed for that particular application. This is
achieved using the job number assigned by the sequence program.
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Jobs
NOTE!
For more information on setting up profiles and creating
jobs, refer to section 5.14.9.
A job consists of four customer-specific profiles: "seam pattern",
"camera", "calibration" and "process control". (Refer to 1 in Figure 107.)
More information about configuring the custom profiles can be found in
section 5.11.
Information
The System Status area shows the job compilation that is currently being
used. (Refer to 2 in Figure 108.)
Sections 5.8.4 and 5.14.9 contains more information about Jobs, their
status and creation.
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5.12.2
Interfaces
Interface
Description
A/D correction
Motoman
reference path
Fanuc Ethernet
in
the
sensor
coordinate
system
without
Changing the
NOTE!
interface
The system is rebooted after the machine interface is
changed.
Select the interface to use from the drop-down list (as shown by 1
in Figure 109).
Click on "Save" (2).
After changing the machine interface, the system automatically
restarts.
The system then starts with the newly selected configuration.
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2
1
NOTE!
When an interface is changed, the assigned process
control is loaded which provides the relevant parameters.
Information
For more information about the available interfaces and their parameters,
refer to section 5.9.
5.12.3
Configuration tab
Overview
The "Configuration" tab allows you to configure the settings for playing
back the recorded image from the camera in the TH6D sensor head. (As
shown in Figure 110.)
Parameter
Parameter
Description
Search window X
Search window Y
In the "Evaluation" area, you can restrict the camera image to width X
and height Y so that areas of interference can be ignored.
If a welding process has a strong influence on the optical characteristics
and image analysis, then you remove the problematic image area by
defining a number of image rows (e.g. 0, 200). Rows outside of this
specified range are ignored by the evaluation algorithm and no longer
shown in the "Evaluation" image are.
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Configuration
CAUTION!
This configuration does not change the size of the TH6D
sensor head's measuring field. Adjustments only affect the
"Evaluation" image area.
The only visual change in the "Evaluation" image is that the laser lines
are shorter. The size of the visual frame remains unchanged. (As shown
in Figure 110.)
y
Figure 110: THxDView configuring the "Evaluation" image area
Example
The change to the parameter "search window x and y" (as shown in
Figure 111) has the following influence on the "Evaluation" image area:
751
20
100
400
y
Figure 111: THxDView configuring the "Evaluation" image area
(example)
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Example
continued
be seen in the "Raw data" image area. (As shown in Figure 112)
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Machine-
dependent
auxiliary modules
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:
No check mark:
Analogue
The "Analogue On/Off" field is divided into four analogue inputs (2) and 4
inputs/outputs
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.
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Corresponding
process control
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.
Parameter
description
Parameter
Description
Filter width
x (scale, offset)
y (scale, offset)
z (scale, offset)
A (scale, offset)
B (scale, offset)
C (scale, offset)
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5.13.2
This section explains how to use the "Motoman reference path" machine
interface.
Machine-
The "Motoman reference path" machine interface only works with the
dependent
auxiliary module
Prerequisites
DX100 controller
Hardware
Software
DS1.42-32
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X100 controller
Sensor parameter
S1E070 = 1
S1E022 = 3
S1E072 = 30
S1E027 = 100
S1E073 = 60
S1E028 = 100
NX100 controller
Hardware
Connector: (3M-10136)
Cover: (3M-10336)
Operating modes
The "Reference Path" field in the "Machine Interface" tab (as shown in
basic settings
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.
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If the control mode "via robot" is activated, the field "operating mode"
(1) is assigned to the field "selection" (2) in THxDView as follows:
mode
Operating
Selection
Description
mode
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
CAUTION!
manually
in set-up mode.
changing the
operating 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).
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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If the control mode "manual" is activated, the field "operating mode" (1)
the operating
mode
assignments are listed in the order they are activated and displayed when
manually changed:
Operating
Selection
Description
mode
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
CAUTION!
robot
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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Function
Display
Bit
IN3=0
robot
continued
IN4=0
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
Analogue and
NOTE!
digital
In the operating mode "record", no corrective values are
inputs and
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
After the Motoman interface has been selected in the "Machine Interface"
process control
tab, the parameters shown in Figure 120 are available for the process
control.
Parameter
description
Parameter
Description
Speed
(Rec, Track)
Not used
Selectable range for smoothing the measured values
(moving average)
Caution: Only use filter width OR filter length!
Not used
advanced tracking
Filter width
x (scale, offset)
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Parameter
description
continued
5.13.3
Parameter
Description
y (scale, offset)
z (scale, offset)
A (scale, offset)
B (scale, offset)
C (scale, offset)
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
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Fanuc Ethernet
Changing the IP
NOTE!
address of the
The robot and the TH6D system must be in the same IP
TH6D systems
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"
1
Figure 121: Fanuc Ethernet interface changing the IP address
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Calibration
Our
recommendation
Creating the
calibration job
Creating and
saving a 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
ATTENTION!
calibration job
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
Corresponding
The protocol for the Fanuc Ethernet interface to the TH6D system has
process control
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
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
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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Initial
During the initial commissioning the TH6D process computer may still be
commissioning
information
switch on the TH6D process computer. Refer to the information about the
status display and the position of this switch as described in section 3.5.2.
After it is booted up, the TH6D system is in automatic mode. Set-up
mode must be activated in order to change parameters.
NOTE!
Parameter changes and other adjustments can only be
carried out while in the set-up mode. In this operating
mode, the laser lines are switched on, unless this is
prevented by the applicable laser safety regulations.
5.14.1
User login
Overview
After the THxDView software is successfully installed and started up, the
user must log on to the TH6D system.
THxDView provides different levels of access, each of which is secured by
a password. The default access level is "Parameterization"
General access
Serves the general overview function. Here, no adjustments can be
made.
Access level:
Expanded view
Password:
level1
Parameterization access
Here the parameterization of TH6D system can be made.
Access level:
Adjusting parameters
Password:
level2
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User login
Login failure
Changing the
NOTE!
access level
It is possible to switch to a lower access level without reentering a password.
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After logging in, you can click on the menu bar to change access levels.
You will have to enter a new password if you are switching to a higher
access level.
Click again on the "Login" option with the name of the current
access level (as shown in Figure 129).
Select a different access level.
Enter the password if necessary.
5.14.2
NOTE!
The TH6D system is delivered with the factory default IP
address and port permissions. Only Scansonic service
personnel can change these settings.
The TH6D process computer comes standard with the following default
connection settings for the user PC with THxDView:
IP address:
192.168.0.201
Subnet mask:
255.255.255.0
The user PC and the TH6D process computer must be in the same
address range. The fourth number block in the IP address range may
not be 201. The address for the subnet mask must stay as shown above.
Examples of valid
192.168.0.214
IP addresses
192.168.0.105
Prerequisite
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Notes
NOTE!
THxDView must not be blocked by any firewall or antivirus programs.
Checking the IP
NOTE!
addresses
All connected TH6D systems will be shown in THxDView,
even if they are in another address range.
You can select the menu option "Select System" in order to display the
TH6D systems connected to the user PC along with their IP addresses.
You can select a system here. A sensor system management option is
available for checking IP addresses and to operate a TH6D system with a
specific serial number.
Open the sensor
system
management
Click on the "Select System" button in the menu bar (as shown in
Figure 130).
Select the "Manage Sensor Systems" option.
1
2
Figure 131: THxDView Manage sensor systems (example)
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Establishing a
connection
After the network connections have been configured on the user PC, a
link can be established to the TH6D system.
Click on the "Select System" button in the menu bar.
Click on the TH6D system that you plan to use.
The connection will then be automatically created.
Status display
for the
area and the name of the connected TH6D system. (Refer to the marked
connection
Information
Information
about
from the TH6D system. If the TH6D system is switched off before
disconnections
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Setting the
NOTE!
automatic
You can configure the settings so that a connection is
connection
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5.14.3
NOTE!
Additional languages are being prepared. Please contact
your local sales and service partner.
The standard version of the THxDView is available in German and English.
Changing the
language
5.14.4
Operating modes
NOTE!
When selecting the operating mode, there must be an
existing connection to a TH6D system and you must be
logged in at the "Parameterization" access level.
In order to set up the TH6D system using THxDView, you must be
connected and logged in to a TH6D system and the "Setup" operating
mode must be activated.
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Selecting the
CAUTION!
set-up operating
It is not possible to change modes during active
mode
processing
in
automatic
mode!
Wait
until
the
NOTE!
When "Setup Mode" is activated, the laser lines are
switched on, unless this is prevented by the applicable
laser safety regulations.
5.14.5
First, the installation and connection of the TH6D sensor head, TH6D
process computer, facility controller, user PC and THxDView must be
carried out (as described in Chapter 4). The TH6D sensor head can then
be positioned
NOTE!
The emitted laser lines are much longer than the
measuring field of the TH6D sensor head. Thus the sensor
head must be carefully positioned over the joint.
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Positioning the
TH6D sensor
head
Move the tool (e.g. torch) to the desired working position. Align the
sensor head TH6D sensor head as described below:
The TH6D sensor head should be positioned at a gap of 150 mm
above the butt edge of the work piece.
The optimal
NOTE!
setting
Set-up
up mode must be activated in order to carry out
configurations manually.
To optimally adjust the lateral and vertical position of the TH6D sensor
head above the butt edge of the work piece:
Verify that the position of the sensor is correct by observing the
orientation movements in THxDView.
Position the butt of the work piece in the centre of the "raw
"
data"
image area, as shown in Figure 138.
The middle line of the three laser lines should be aligned near the
horizontal white line of the "raw data"" image area.
area
The example illustrations below show different gaps that the TH6D sensor
head can have to the seam area, using an example of a V-seam:
V
Too far away from the work piece
surface.
The third laser line is almost gone
from the camera's viewing range.
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The optimal
setting
continued
Active
measurement
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5.14.6
Tool calibration
Overview
CAUTION!
The tool must be re-calibrated each time after the
TH6D sensor head is replaced or installed.
You must re-calibrate the tool each time after the tool (e.g. torch) or
TH6D sensor head is installed on a master machine or robot.
This tool calibration is required so that the sensor coordinate system and
the master machine's coordinate system are synchronized to work with
each other. Thus the position and orientation of the TH6D sensor head is
determined in relation to the tool (the tool centre point).
Interface
specifications
type of interface being used. The calibration of the tool should be carried
and accessories
TH6D system
Master machines
Accessories
Calibration
axes
(ADF)
plate
Motoman
Fanuc
KUKA
Calibration
plate
NOTE!
Contact your system partner for assistance in performing
a robot-side calibration.
Tool calibration
for linear axes
This section only describes the sensor-side tool calibration for the linear
axes (refer to the table above).
(ADF)
Required accessories:
Calibration plate
"Tip" or "cross-hairs" insert (depending on the tool)
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Prerequisites
+z
A
+x
+y
B
TCP
S0
xs
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Determining the
CAUTION!
calibration data
Before calibrating the tools, it is imperative that the seam
shape "Overlap Seam" is activated from the "Seam
Pattern" tab!
Drive the TCP
+y
+x
Move the tool from the centre in direction -x until the laser lines
(3) are optimally aligned with the "V" (4) of the calibration plate.
All three laser lines must jut out over the edges of the "V" (4).
You can check this setting in the "raw data" image area within
THxDView (refer to Figure 142).
Read out the traversed path xs and the tool angles A, B, C from
the robot controller.
+y
xs
+x
NOTE!
calibration data in
The
THxDView
serial
number
(parameter
S/N
sensor)
will
be
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Entering the
calibration data in
THxDView
Enter the calculated values in the boxes (2) and (3) (see the
example in Figure 142).
continued
V
8
1
2
3
4
Figure 142: THxDView specifying the parameters for calibrating the tool
NOTE!
Make sure you select the proper profile when compiling
the jobs!
Changing an
existing
calibration
profile
Customer-specific
specific calibration profiles can be changed after their creation.
Select a profile from the drop-down list (8)).
Make the changes as previously described.
Click on the "Save" button (6) to save your changes in the
existing profile.
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5.14.7
NOTE!
Set-up mode must be activated in order to change
parameters.
Parameters values must be saved in the profile in order to
save the values permanently. (Refer to section 5.14.9.)
The first step in optimizing the measurement processes is adjusting the
brightness of the laser lines and the exposure time of the camera to fit
your particular application. The default values are 70 (laser) and 5
(shutter).
Camera settings
In the "Camera" option of the main "Profiles" tab, the value for the laser
brightness (2) should be specified in the input box so that the laser lines
in the "raw data" image area are still faintly visible. This value is very
dependent on the roughness of the work piece surface and its colouration.
For reflective surfaces (such as stainless steel and aluminium), a value of
at least 200 must be specified here.
1
2
0
0
Figure 143: THxDView changing the camera settings
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5.14.8
NOTE!
Set-up mode must be activated in order to change
parameters.
Parameters values must be saved in the profile in order to
save the values permanently. (Refer to section 5.14.9.)
Parameters can be changed in THxDView in order to optimize the
measuring processes for the TH6D system. Parameters should be
optimized in individual steps in order to isolate fault detection.
New values can be specified directly in the corresponding fields located
within the associated tabs. In order to change the parameters, you must
have a connection established to the TH6D system. You must also be
logged in at the "Parameterization" access level and the corresponding
parameter must be activated.
Changing the
parameters
Entering
parameters
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Input incorrect
5.14.9
NOTE!
Jobs cannot be created using profile templates. They can
only be created from customer-specific profiles.
A job is composed of four profiles. Existing profile templates cannot be
used to create jobs. Thus before a job is defined, you must first create,
set-up and save a specific profile for it.
Creating a
custom
(customerspecific) profile
Setting up a new
profile
From the main "System" tab, select one of the tabs "Seam
Pattern", "Camera", "Calibration " or "Process control " (as shown
by 1 in the example in Figure 146).
Choose a template that is suited to your processing task, or
choose an existing profile from the drop-down list (2) of the
selected tab.
Change the parameters necessary for your optimizations (3).
Save the newly created profile using the following specifications.
If needed, repeat these steps for the other tabs (1).
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Setting up a new
profile continued
1
2
Saving a new
NOTE!
profile
Tabs containing changed but unsaved parameters are
marked with an "*" before the tab name. (Refer to 1 in
Figure 146.)
Click on the "Save As" button (5 in Figure 146) after you have
finished optimizing the parameters. You can then save your
customization to a new profile.
Give the profile a clear name and click on "Save" (6 and 7 in
Figure 147).
6
7
Figure 147: THxDView saving a profile
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Changing an
existing profile
Information
about saving
The "Reports area shows when the profile has been saved
successfully.
The profile that you created is now in the drop-down list (as
shown by 8 in Figure 148) and can be selected when compiling a
job.
Figure 148: THxDView selecting the profile from the drop-down list
Creating a job
The profile can be compiled into application-specific jobs after the set-up
is complete. These are created in the "Job List" tab under the main
"System" tab. (As shown in Figure 149.)
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Creating jobs
Jobs can be assigned a unique job name. Each job is assigned a unique
continued
Click on the "Create Job" button (9) in the "Job List" tab.
A new row (10) will appear in the job list with fields that you need
to fill in.
10
00
9
0
Figure 150: THxDView creating a new job
Click in the column (11) and enter a unique job name (as shown
in Figure 151).
11
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Then assign the desired profile to each profile type from the dropdown lists (as shown by 12 in Figure 152).
All four profile types must be assigned profiles in order to save the
job.
Templates cannot be selected.
12
CAUTION!
job
13
00
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Changing of
deleting a job
The composition and name of created jobs can be changed after the jobs
have been created. The assigned job number remains the same.
Click on the row of the job you wish to change the job entries
can now be edited.
Change the job name or assign different profiles to the profile
types.
The reference text "changed" will be displayed under the job
number.
Click on the "Save"" button to apply the changes.
Information
14
15
The current job and its contents can be seen in the "System State" (15)
area.
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6.
Maintenance
This section describes the process of servicing the TH6D system.
6.1
6.2
6.2.1
6.2.2
6.2.3
6.3
6.3.1
6.3.2
6.3.3
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Page | 6-1
Maintenance
6.1
Safety instructions
You must observe and obey the following safety instructions during maintenance and servicing to
the TH6D system. These relate to the use of the TH6D system in a production facility.
DANGER!
There is a risk of injury from the master machines!
Do not stay in the swivel range of master machines when they are turned on!
Disconnect the power from the master machines before starting to work on
the TH6D system!
WARNING
Danger of getting stuck!
When the power supply is turned on, keep hands, hair, pieces of clothing and
tools away from the moving parts of the processing equipment.
Disconnect the power supply before beginning work on the TH6D system.
WARNING
Danger to health through harmful gases and fumes!
Never inhale the gases resulting from the work process!
Always be sure that there is sufficient ventilation and extraction for gases!
After a process has completed, wait for the gases to be sucked away before
entering the work/laser cell.
WARNING
Loud noises can be dangerous!
The loud noises caused by emitted media can damage your hearing.
Always wear protective gear for your ears when changing pressurized hoses!!
Or make sure that you de-pressurize all facility components!
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Maintenance
WARNING
Danger from excessive pressure!
There is a risk of head, eye or hearing injury.
Always wear protective gear for your eyes and ears when changing
pressurized hoses!
Or make sure that you de-pressurize all facility components!
WARNING!
Risk of injury from hot components!
There is a risk of burn injury from hot components when carrying out maintenance
work immediately following the work process.
Allow the work pieces to cool down or wear suitable protective gloves!
6.2
Required maintenance
Some components or work pieces in the TH6D system must be regularly maintained.
Maintenance may only be carried out by trained personnel in observance of the safety
information stated in this document.
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Page | 6-3
Maintenance
NOTE!
If the quality of the seam detection deteriorates (as
indicated by the value in THxDView), this indicates that
you need to replace or clean the safety glass. (As shown
in Figure 156.)
A reference point here is the seam detection value provided in the
"System Status" section THxDView. If the percentage value specified for
the seam detection continually decreases while measuring the same
sample work piece, this may indicate significant contamination
co
or deposits.
(Refer to the marked area in Figure 156.)
In this case, the safety glass should be checked and replaced if necessary.
After the safety glass is changed, the percentage value for the seam
detection should return to the proper range. (As shown in Figure 157.)
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Page | 6-4
Maintenance
Component /
Maintenance procedure
Section
Page
6.3.1
6-5
When
6.3.2
6-8
When
6.3.3
6-9
When
6.3.3
6-9
module
Safety glass
Hours of
operation
Cleaning
Glass may need changing
TH6D sensor
head
Hose connections
Cable connections
6.3
necessary
necessary
necessary
NOTE!
The TH6D system may only be used for welding processes
together with a TH6D sensor head and an attached safety
glass unit with a clean safety glass!
The safety glass unit with the built-in safety glass protects the optical
elements in the TH6D system from mechanical contamination, process
splatter and deposits.
Maintenance
procedure
Check regularly that the safety glass is clean (check for deposits or
splatter) and undamaged.
Clean the safety glass.
Replace the safety glass if it is scratched.
Scansonic_TH6D_AHB_v1.7_en.docx
Page | 6-5
Maintenance
Removing the
NOTE!
Remove the
protective glass
Figure 158: Replacing the safety glass removing the safety glass
Cleaning the
safety glass
Any contamination of the safety glass from the process should be cleaned
as follows:
Use only clean, lint-free cloths for cleaning.
Clean with ethanol (do not use water or chemically aggressive
cleaning agents)!
Wear gloves or finger coverlets in order to avoid leaving finger
prints.
Replacing parts
Item
Designation
Article no. :
Can / must
M001592
Can
Safety glass
(Refer to
Can
section 8.3.)
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Page | 6-6
Maintenance
To insert new
CAUTION!
safety glass
NOTE!
Safety glasses are coated on both sides with a protective
foil. These foils must be removed during the insertion,
according to the instructions below.
Take hold of the sides of the new safety glass using your thumb
and middle finger (hold the marked points shown in Figure 159).
Carefully remove the protective foil on the bottom side (towards
the safety glass unit).
Use your forefinger to push down on the safety glass so that it is
positioned between the spring strips.
After it snaps into place, peel off the foil from the top side of the
safety glass.
Figure 159: Replacing the safety glass inserting the new safety glass
Installing the
safety glass unit
Install the safety glass unit (with the new safety glass) so that it is
aligned flush with the TH6D sensor head and until you hear a
clicking sound.
Section 4.4.5 contains more information about the installation.
Functional testing
Check
that
everything
has
been
installed
properly
before
re-
Scansonic_TH6D_AHB_v1.7_en.docx
Page | 6-7
Maintenance
Function test
continued
You can check the image by clicking on the "Raw Data" tab and
then on "Evaluation" in the image area (refer to section 5.6).
When compared to measurements taken before the safety glass
was replaced, the new test measurements should exhibit less or no
errors and the percentage values for the seam detection should be
improved.
(Refer to the example in Figure 160.)
If the seam detection is functioning smoothly, you can switch the
TH6D system to automatic mode and log out of THxDView.
If the seam detection is still problematic, check that the safety
glass and the safety glass unit properly seated and consider
changing the parameter settings (refer to section 5.14.8).
CAUTION!
A re-calibration is required after the position of the TH6D
sensor head is changed in relation to the tool or when it is
dismantled. Also check the calibration after cleaning!
The TH6D sensor head may get dirty depending on the nature of your
process. Any such contamination should be removed regularly.
Maintenance
procedure
Cleaning
CAUTION!
Disconnect the power supply before cleaning!
Use
non-abrasive
cleansers
when
cleaning
the
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Page | 6-8
Maintenance
The connections for the media-supply hoses and cables on the input side
of the TH6D sensor head are under heavy stress due to the motions of the
master machine/robot. These connections need to be inspected regularly.
Maintenance
procedure
WARNING!
connections
Your eyes and ears can be damaged by emitted
media!
Always wear proper protective gear for your eyes
and ears while carrying out maintenance work on
pressurized lines!
Pressurize the supply circuit.
Check the hose connections to the TH6D sensor head to make sure
there are no leaks (check for noise and feel for leaks)
Be sure to de-pressurize (switch off) defective supply circuits!
Replace the plugs, couplings or hoses.
Checking the
cable connections
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Page | 6-9
7.
Troubleshooting
The chapter describes errors that may occur, along with their causes
and the appropriate measures that can be taken.
7.1
7.2
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Page | 7-1
Troubleshooting
7.1
Notes
Scansonic
+49 (0) 30 / 91 20 74 10
Fax:::
+49 (0) 30 / 91 20 74 29
E-mail:
service@scansonic.de
Internet:
www.scansonic.de
Sales and
service partner
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Page | 7-2
Troubleshooting
7.2
Information
No.
Code
1.
I750
Description
Information
Automatic tracking is
activated
Warnings
No.
Code
1.
W180
Description
Excessive
temperature at
(air or water).
sensor
2.
W400
Laser off
3.
W401
Laser
safety
off
circuit
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Page | 7-3
Troubleshooting
No.
Code
Description
4.
W710
Manual mode
5.
W720
Sensor change
without tool
calibration
Errors
No.
Code
1.
E100
Description
No communication
with sensor
possible.
Check that the Ethernet and power cables and plugs
are undamaged and properly attached.
Use the status LED on the TH6D system to check for
proper function (refer to section 3.5)
The TH6D sensor head may be defective if you have
ruled out cable connectivity problems.
Contact your customer support representative and
send in your TH6D sensor head for repair.
2.
3.
E105
E110
Sensor
is not configured
the sensor
calibration.
computer.
Record the serial numbers of the TH6D sensor head
and process computer. Contact your customer
support representative.
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Page | 7-4
Troubleshooting
No.
Code
Description
4.
E120
No reception of the
The
measurement data.
TH6D
process
computer
is
not
receiving
E150
6.
E300
Process
interface
is
not ready
7.
E310
No communication on
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Page | 7-5
Troubleshooting
No.
Code
Description
8.
E600
9.
E605
allowed
10.
E610
11.
E620
12.
E650
13.
E720
been detected
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Page | 7-6
8.
8.2
8.3
8.4
Medium........................................................................... 8-9
8.4.1
8.4.2
8.5
8.6
8.6.1
8.6.2
8.6.3
Optional components for the ABB and KUKA robots .......... 8-13
8.6.4
Scansonic_TH6D_AHB_v1.7_en.docx
Page | 8-1
8.1
Characteristics
in general
Configurations
TH6D-150-CFAA-AB
TH6D-150-KFAA-AB
Power supply
Weight
3B
Protection class
Operating wavelength
660 nm
50 mW
Dimensions
70 x 121 x 40 mm (L x H x W)
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Page | 8-2
Characteristics
Dimensions
Scansonic_TH6D_AHB_v1.7_en.docx
Page | 8-3
Width: 8 mm
(width / height)
Height: 12 mm
(z = 0 mm)
Nominal working gap
(x = 0 mm)
Operating range
S0
S0
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Page | 8-4
Width: 22 mm
(width / height)
Height: 40 mm
(z = 0 mm)
Nominal working gap
(x = 0 mm)
Operating range
S0
S0
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Page | 8-5
Characteristics
Dimensions
Power supply
Weight
Approx. 3.0 kg
Ethernet
Serial port
Scansonic_TH6D_AHB_v1.7_en.docx
Page | 8-6
8.2
NOTE!
Seam search and measurement will only function when the currently selected job has
been created and activated.
Signal type
Digital
input
Digital
output
Analogue
input
Analogue
output
Sequential no.
Designation
1
2
5
6
7
8
9
10
11
12
13
14
15
16
Laser On/Off
Seam search Start/Stop
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Automatic mode
System is ready
Tracking is activated
Seam is found
Job
Job
Job
Job
No.
No.
No.
No.
(bit
(bit
(bit
(bit
0)
1)
2)
3)
1
2
3
4
1
2
3
4
Seam position Y
Seam position Z
Height difference
Gap width
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Page | 8-7
8.3
NOTE!
Seam search and measurement will only function when the currently selected job has
been created and activated.
Signal
Sequential
type
number
Digital
input
Digital
output
Analogue
input
Analogue
output
Designation
1
2
3
Laser On/Off
Seam search Start/Stop
Reference movement
4
5
6
7
8
9
10
11
12
13
14
15
16
Corrective movement
Job No. (bit 0)
Job No. (bit 1)
Job No. (bit 2)
Job No. (bit 3)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Automatic mode
System is ready
Tracking is activated
Seam is found
1
2
3
4
1
2
3
4
Seam position Y
Seam position Z
Height difference
Gap width
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Page | 8-8
8.4
Medium
Compressed air
specifications
Type of connections
flow
Purge air:
Quick-lock coupling for
Outer
= 4 mm
Cooling air:
Quick-lock coupling for
Outer
= 6 mm
for
1 l/min
purging
Allowable maximum pressure
6 bar
for cooling
Coolant specifications
Characteristics
Type of connections
Type of coolant
Flow quantity
2 l/min at 6 bar
> 15 C
25 C
Maximum pressure
6 bar
Conductivity
Conductivity to 2 S/cm
pH value
5.5 8
< 50 m
Scansonic_TH6D_AHB_v1.7_en.docx
Page | 8-9
8.5
Ambient conditions
Please follow the information about the ambient, environmental conditions for the TH6D system
given in the table below.
Table 3: Ambient conditions
Storage temperature
Operating temperature
Enclosure temperatures
+25 to +45 C
< 95 % (non-condensing!)
humidity
Scansonic_TH6D_AHB_v1.7_en.docx
Page | 8-10
8.6
NOTE
Please specify the article number and name when ordering.
Article No.
Designation
Description / function
M001806
TH6D
TH6D-150-CFAA-AB
Figure
M001879
TH6D
TH6D-150-KFAA-AB
M001592
M001797
M001585
System controller,
with software
measurement analysis
Consisting of M001704
and M001705
M001704
M001705
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Page | 8-11
Item
Article No.
Designation
Description / function
M001587
Power supply
2A
M001713
Figure
CD with configuration
software
License agreement
10
(M001713)
Article No.
Designation
Description / function
M001589
digital interface
interfaces
Consisting of M001706
M001586
Figure
and M001707
M001706
M001707
[15 m]
M001618
Consisting of M001708
and M001709
Scansonic_TH6D_AHB_v1.7_en.docx
Page | 8-12
Technical
ical Data and Specifications
Item
Article No.
Designation
Description / function
M001708
Figure
M001709
[25 m]
M001852
Patch cable (1 m)
M001853
Patch cable (2 m)
10
M001854
Patch cable (5 m)
11
M001855
Article No.
Designation
Description / function
M001799
Figure
sensor head
M001834
Cross
Cross-hairs
insert for the
calibration plate
M001835
plate
Scansonic_TH6D_AHB_v1.7_en.docx
Page | 8-13
Article No.
Designation
Description / function
M001652
Safety glass
Scaled 19
M001612
Safety glass
Scaled 10-24
M001610
Safety glass
Scaled 25-49
M001613
Safety glass
Scaled 50-99
M001614
Safety glass
Scaled 100-499
M001615
Safety glass
Scaled 500-999
M001609
Safety glass
Scaled 11000 +
Scansonic_TH6D_AHB_v1.7_en.docx
Figure
Page | 8-14
9.
Appendix
9.1
9.1.1
9.1.2
9.2
9.3
9.4
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Page | 9-1
9.1
Annex
Scansonic_TH6D_AHB_v1.7_en.docx
Page | 9-2
Scansonic_TH6D_AHB_v1.7_en.docx
Page | 9-3
Figure 74: Information area diagram (example for adjusting the angle) ........................... 5-23
Figure 75:: Information area - Detailed view of parameters .............................................. 5-24
Figure 76: THxDView Information about parameters ..................................................... 5-24
Figure 77: THxDView parameter configuration area ....................................................... 5-25
Figure 78: THxDView parameter configuration area profiles ......................................... 5-25
Figure 79: THxDView Seam Pattern tab ....................................................................... 5-26
Figure 80: THxDView selecting the seam pattern profile................................................. 5-27
Figure 81: THxDView seam pattern template for an open edge ....................................... 5-28
Figure 82: THxDView seam pattern template for an overlap seam ................................... 5-28
Figure 83: THxDView seam pattern template for a tailored blank .................................... 5-29
Figure 84: THxDView seam pattern template for a TB-Area ............................................ 5-29
Figure 85: THxDView seam pattern template for a V-seam ............................................. 5-30
Figure 86: THxDView seam pattern template for a HV-seam........................................... 5-30
Figure 87: THxDView seam pattern template for a HY-seam ........................................... 5-31
Figure 88: THxDView seam pattern template for a U-seam............................................. 5-31
Figure 89: THxDView seam pattern template for a HU-seam .......................................... 5-31
Figure 90: THxDView line quality parameters (examples) ............................................... 5-33
Figure 91: THxDView reference area parameter at the overlap seam ............................... 5-34
Figure 92: THxDView TCP alignment parameters........................................................... 5-35
Figure 93: THxDView depth parameter, with the example of an HV-seam ........................ 5-35
Figure 94: THxDView angle left/right parameters .......................................................... 5-36
Figure 95: THxDView Mismatch parameter at the overlap seam ...................................... 5-37
Figure 96: THxDView "gap" parameters (example of tailored blank) ................................ 5-38
Figure 97: THxDView "Interpolation point tolerance" parameter - 1 ................................. 5-38
Figure 98: THxDView "Interpolation point tolerance" parameter - 2 ................................. 5-39
Figure 99: THxDView " Line diff. (A, L)" parameter........................................................ 5-40
Figure 100: THxDView "preferred seam position" parameter (example) ........................... 5-41
Figure 101: THxDView "preferred joint position" parameter (example)............................. 5-41
Figure 102: THxDView Camera tab .............................................................................. 5-42
Figure 103: THxDView Calibration tab ......................................................................... 5-43
Figure 104: THxDView parameters for calibration .......................................................... 5-44
Figure 105: THxDView Process Control tab A/D-IF......................................................... 5-45
Figure 106: THxDView parameters area system ......................................................... 5-46
Figure 107: THxDView job list..................................................................................... 5-47
Figure 108: THxDView job compilation in the System Status area ................................... 5-47
Figure 109: THxDView selecting the interface ............................................................... 5-49
Figure 110: THxDView configuring the "Evaluation" image area ...................................... 5-50
Figure 111: THxDView configuring the "Evaluation" image area (example) ....................... 5-50
Figure 112: THxDView configuring the "Raw data" image area (example) ........................ 5-51
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Page | 9-5
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Page | 9-6
9.2
Procedural steps
Mechanical mounting
Completed
Overview: Please follow the instructions for installing the TH6D system in
Chapter 4.
Mounting: The TH6D sensor head should be mechanically connected to the
master machine. (Refer to section 0.)
Orientation: The TH6D sensor head should be aligned with the work piece
surface so that the edges of the work piece can be detected in the sensor
measuring range. (Raw data in THxDView)
Screws should be tightened by hand. (Caution! Aluminium housing)
Safety glass unit with safety glass should be mounted on the TH6D sensor
head.
(Refer to section 4.4.5.)
The Ethernet cable should connect the TH6D sensor head (plug-in slot X5)
to the TH6D process computer (plug-in slot 5). (Refer to section 0.)
The power cable should connect the TH6D sensor head (plug-in slot X4) to
the mains power supply unit. (Refer to section 4.4.8.)
The power supply cable should be connected to the TH6D process computer
(plug-in slot 2). (Refer to section 4.4.12.)
The TH6D process computer should be mechanically connected to the
master machine.
Strain relief mechanisms should be in place for the individual cables and
hoses.
2
Media supply
The compressed air supply for the cooling air (for the optional cooling air)
should be connected with the TH6D sensor head (plug-in slots X2, X3, X3).
(Refer to section 4.4.9.)
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Page | 9-7
Item
Procedural steps
Completed
Scansonic_TH6D_AHB_v1.7_en.docx
Page | 9-8
9.3
Contamination Declaration
Notes
When returning the TH6D system, please fill out this declaration
completely.
With
this
declaration,
you
confirm
the
correctness
and
Type of contamination:
Type of medium used:
The device was cleaned by
the customer using:
Other details:
Telephone
Contact person:
Date:
Scansonic_TH6D_AHB_v1.7_en.docx
Signature:
Page | 9-9
9.4
45 %
50 %
55 %
60 %
65 %
70 %
75 %
80 %
85 %
90 %
95 %
-7.8
-6.6
-5.4
-4.4
-3.2
-2.5
-1.8
-1.0
-0.3
0.5
1.2
4C
-6.1
-4.9
-3.7
-2.6
-1.8
-0.9
-0.1
0.8
1.6
2.4
3.2
6C
-4.5
-3.1
-2.1
-1.1
-0.1
0.9
1.9
2.7
3.6
4.5
5.4
8C
-2.7
-1.6
-0.4
0.7
1.8
2.8
3.8
4.8
5.7
6.5
7.3
10C
-1.3
0.0
1.3
2.5
3.7
4.8
5.8
6.8
7.7
8.5
9.3
12C
0.4
1.8
3.2
4.5
5.6
6.7
7.8
8.7
9.6
10.5
11.3
14C
2.2
3.8
5.1
6.4
7.6
8.7
9.7
10.7
11.6
12.6
13.4
15C
3.1
4.7
6.1
7.4
8.5
9.6
10.7
11.7
12.6
13.5
14.4
16C
4.1
5.6
7.0
8.3
9.5
10.6
11.7
12.7
13.6
14.6
15.5
17C
5.0
6.5
7.9
9.2
10.4
11.5
12.5
13.6
14.5
15.4
16.2
18C
5.9
7.4
8.8
10.1
11.3
12.4
13.5
14.6
15.4
16.3
17.3
19C
6.8
8.3
9.8
11.1
12.3
13.4
14.5
15.5
16.4
17.4
18.2
20C
7.7
9.3
10.7
12.0
13.2
14.4
15.5
16.5
17.4
18.4
19.2
21C
8.6
10.2
11.6
12.9
14.2
15.4
16.4
17.4
18.4
19.3
20.2
22C
9.5
11.2
12.5
13.9
15.2
16.3
17.4
18.4
19.4
20.3
21.2
23C
10.4
12.0
13.5
14.9
16.0
17.3
18.4
19.4
20.4
21.3
22.2
24C
11.3
12.9
14.4
15.7
17.1
18.2
19.2
20.3
21.4
22.3
23.2
25C
12.2
13.8
15.4
16.7
18.0
19.1
20.2
21.4
22.3
23.3
24.2
26C
13.2
14.8
16.3
17.7
18.9
20.1
21.3
22.3
23.3
24.3
25.2
27C
14.1
15.7
17.2
18.6
19.8
21.1
22.2
23.3
24.3
25.2
26.1
28C
15.0
16.6
18.1
19.4
20.9
22.1
23.2
24.3
25.3
26.2
27.2
29C
15.9
17.6
19.0
20.5
21.8
23.0
24.2
25.2
26.2
27.3
28.2
30C
16.8
18.4
20.0
21.4
23.7
23.9
25.1
26.1
27.2
28.2
29.1
32C
18.6
20.3
21.9
23.3
24.7
25.8
27.1
28.2
29.2
30.2
31.2
34C
20.4
22.2
23.8
25.2
26.5
27.9
28.9
30.1
31.2
32.1
33.1
36C
22.2
24.1
25.5
27.0
28.4
29.7
30.9
32.0
33.1
34.2
35.1
38C
24.0
25.7
27.4
28.9
30.3
31.6
32.8
34.0
35.0
36.1
37.0
40C
25.8
27.7
29.2
30.8
32.2
33.5
34.7
35.9
37.0
38.1
39.1
45C
30.3
32.2
33.9
35.4
36.9
38.2
39.5
40.7
41.9
43.0
44.0
50C
34.8
36.6
38.5
40.1
41.6
43.0
44.3
45.6
46.8
47.9
49.0
Scansonic_TH6D_AHB_v1.7_en.docx
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