Hi dear all,
Currently I am working on krc2
Robot kr16
Due to component variation every time I have to re-teach program
can anybody tell me how to shift krc2 Robot program
Sent from my LG-D686
Hi dear all,
Currently I am working on krc2
Robot kr16
Due to component variation every time I have to re-teach program
can anybody tell me how to shift krc2 Robot program
Sent from my LG-D686
in the first please explain more
for avoid reteaching you have various way depend on condition
for example if in your program, robot do some work on an object and if object size changed you can for example define one base coordinate on first object and teach it and then when your object Chang you can correct your program by Means of Chang the base:
BASE_DATA[1].Z=BASE_DATA[1].Z+30 (30 mm is the Changes of the object size in base coordinates z direction)
Thanks for quick replay
Sent from my LG-D686
What sort of shift? How many dimensions? Translational, rotational, or both?
Both
Sent from my LG-D686
Well, if this is happening all the time, your best answer is to alter the tooling so that each part is held in an identical position and orientation.
If you can't do that, perhaps your next-best option is to add a vision system that measures the position and orientation of each part as it is placed in front of the robot.
The cheapest method, but the one that will require the most on-going work, would be to establish a Base on the part, using the 3-point method, and assign all of the critical robot motions to that Base. Then, whenever the part comes in different from the nominal, re-teach the Base, and the robot points will follow to match the new part location.
Thanks for replay
Sent from my LG-D686