Hey guys, i have an HSD spindle with auto tool change option and i would like to use that with my robot - it is Kuka KR150 with KRC2 cabinet.
At the moment i can start and stop the spindle with the required RPMs but don't know how to point it to pick up and drop off a tool (ISO 30 tool holder) from the tool rack.
Any help appreciated!
Auto tool change with HSD spindle
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vvelikov -
July 25, 2015 at 1:09 PM -
Thread is marked as Resolved.
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here is the robot with the spindle if that will help:
https://www.youtube.com/watch?v=tkEaHERR5Wcat the moment i am working with 3 tool holders in total
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I have done this before is quite straight forward.
You need to build a ATC rack for the tools, ISO30 or HSK, etc
Guide the robot to the above position of the tool you are going to use, lower the spindle to match the tool holder, press the green button on the spindle to manual tool change or Digital output to clamp the tool, retract the tool off the gripper, then save this motion as let say "t1.SRC"
In this code:Def line01()
INIPTP Home Vel=100 % DEFAULT
t1()
c1()
PTP HOME Vel = 100 % DEFAULTEND
c1 is to catch tool, t1 is to put the tool back.
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So if i press the green button it will record this and after that will do it automatically?
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The button on the spindle is to clmp the tool only. The motion is recorded using Teach mode in KCP.
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I found the files for C1 and T1 used for ATC:
open attachment.
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Thanks! Just don't know how to release and pick up the holder from the robot when teaching...
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and when you are saying "teach mode" - is that mean with Touch up the points?
I am sorry if i sound dumb
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Expert programming PDF page 92, section 3.6. Teach point.
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I don't know if you have grippertech installed but i configured the toolclamp with grippertech and then you can use the buttons on the kcp for clamping and releasing tools. works great during teaching.
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Thanks Leon!
Yes, i have Gripper tech installed.
Can you explain how to configure it to clamp the tool holders? -
do you have the digital I/O of robot controlling air solenoids fed to the spindle? one of the air ports on the spindle will be the clamp/release. Just activate that output. I like the grippertech method but if you are trying to do it as simply as possible....
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Well, configuring a gripper (which is what the tool clamp basically is) with gripper tech is very easy, but it depends of type of clamp that your are using. In my case the spindle needs a high signal to release the tool and a low signal to clamp. In grippertech there are a few different gripper types where you can choose from. All that you have to do is select the right one for you and fill in the correct output that links to your spindle. If you want to and if you a sensor that detects if the toolclamp is open or closed you can also configure that signal with grippertech. Then you could use the grippertech inline form to check if it is open or closed.
I have to say though i only used grippertech for the use of the buttons during teaching. I never use any inline forms in my code. I never liked using them so i don't exactly know what you can do with them.
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Thanks Leon!
Yes, i have Gripper tech installed.
Can you explain how to configure it to clamp the tool holders?did you check the manual? it is only few pages long.
your clamp will need couple of I/Os (outputs to open/close, inputs to check if open or closed).
you can test the function by controlling those outputs (set/reset either manually or by program).
once this works, check gripper tech manual to assign type and I/Os and - display status keys.
that's it...