Hello everyone, we are working on a robot KR20-3 with KRC4 to be grinding defects of 0.1-0.5 mm. on the pipe to get correct value as the target thickness.
We have 2 tools and Base are following
Tools;
1. A Laser
2. A Spindle
Base;
We calibrate 3 point of table and we put a pipe on table then offset the new base to center of pipe(as we have the standard pipe dimension)
Quickly explained what we do in program sequence:
First step is the robot move in scan mode(Tool_data1: laser) to go to the pipe edge by use SCIRC command that we send radius from External PC to robot then the laser orientate 0-360 degrees following the pipe edge(inner diameter). after that we will get the actual thickness value every degree total 360 points then we keep this to the table on External PC.
Second step is we're going to grind, If the thickness bigger than the set point we need to grind it out from inner of pipe, we use a different tool(Tool_data2:Spindle) that follows SCIRC motions around the pipe, all points will be sent to the corresponding RADIUS that is read by the laser (as explained above).
The problem is on grinding mode during orientate the pipe(0-360 degree) we got some degree is too big radius, some too small, some is correct and some point the tool grinding hit the pipe a lot. So let say the error about +/- 0.5 mm.
So, what we have so far about fixed the problem:
-We double check and we tried to mastering with load correction again
-4 points tool calibration(we got the error value = 0.314), and ABC world 5D
The question:
1. Is it possible to fix the error to be less than 0.1 mm. for this model?
2. What we did something wrong on tool calibration?
3. Is the problem come from the bracket that mounted spindle/laser?
Can anyone help to advise us what else we have to looking for it?
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