Kawasaki FS010E Robot / D40F controller for plasma cutting application

[ddenis]

Hello,

Got a question. We have Kawasaki FS010E Robot with D40F controller and planning to use it for plasma cutting. But I just don’t understand how to control the height of the torch. Now we have plasma cutting equipment with handheld torch, which have to be replaced by automatic one. I’ve got some vague ideas how to made it work.
First, to provide the torch with the sensor to measure height and to correct the path of robot (z coordinate) on-line, due to feedback signal (but not sure whether it’s possible with this robot).
Second, to install the height control system on the robot’s flange (the one used for CNC cutting equipment) so that it worked independently (but as I understand it will cost us).
Maybe someone faced this before?
Thanks!