Leoni Advintec TCP

I have an experience of integrating of Leoni Advintec with Fanuc R30ia.

Few points
Advintec has two major components :a controller and a laser enabled measuring clamp like device.
Controller basically reads the values of sensors and enables communication with robot whereas clamp measures position of the TCP as TCP is moved within this clamp for measurement.
You need a large number of consecutive registers available on robot to be able to send or receive data from Leoni's controlller.(No matter what protocol you choose)
Advintec, basically runs few Karel programs on robot, which moves the robot within the clamp and calculate deviation in the tool center point (TCP) upto +_10 mm (depends on the size of Advintec clamp) and adjust the same in tool frame. (Only Center point of the measuring clamp is taught to the robot).
TCP must be clean of any deposition on it (glue, sealer etc) as the same may lead to false readings.
May be a good instruments to adjust tool frames to a single digit milimeters, thus compensating offset if any.
Be wary of robot manipulator's tolerances when you adjust the tool frame.

Hope this helps!

I had to look up what this even was, I had never even heard of it before. Seems like a great tool, but I am curious, how much does it cost?

Hello,

Currently installing a Leoni on an ABB robot (with an IRC5 controller).

Just a question, something I haven't been able to understand, does Leoni calculate an unknown TCP or does it correct the TCP based on previous values?

Thanks and regards,
Walter.

Hi, guys

I have installed Leoni TCP controllers 120x120 and 240x240 mm on my KUKA KRC4 robot for milling.

But tool coordinates after measurement are incorrect.

Anybody solve this?

I installed controller and made a program according to LEONI manual.

But in a result I have this:

On 16 mm tool

On 52 mm tool

Lenght of the tool is incorrect.

When I used physical method - come with milling tool to the detail, mill and measure - I got correct points is:

425.4840 -253.3140 332.6200 -30.6600 89.9900 0.0000

so compare:

425.4840 -253.3140 332.6200 -30.6600 89.9900 0.0000
420,96 -250,3 328,46 -30,98 0,5 -179,74
420,79 -250,34 328,62 -30,72 -0,21 -179,8
420,73 -250,31 328,52 -30,72 -0,24 -179,85

425.4840 -253.3140 332.6200 -30.6600 89.9900 0.0000
420,4 -248,66 328,26 -30,69 -0,18 -179,84
419,93 -249,42 328,33 -30,66 -0,26 -179,89
419,94 -249,36 328,37 -30,65 -0,27 -179,84

They measure, makes corrections during measuring, no errors. All three measurements are successful and give results 0.01-0.02

Yellow line - real coordinates, and below - result of measurement

For 35 mm tool

For 16 mm tool

Any minds?

Hi everybody, I'm working attually in a Cell were is the Tool correction of Leoni. Someone have the installation manual to configure the advintec controller profinet Leoni for Kuka KRC4?

Thanks in advance.

Normally there is a CD/DVD with the hardware with everything you need. Search for it, or ask Leoni for a new one.