Hello,
i need some advice for the programming of my robot. Indeed the robot has 2 Gripper and now it uses only one in the process and we want to integrate the other one so that we enhance the process.
The process is the same for the 2 grippers. The actual program, functions..... are created be executed with the gripper 1. So i need the same program, functions.. to be executed with the gripper 2. Then the plc will decide when gripper 1 or 2 would be used in the process.
I am asking if there is a clever and quick method to involve the unused gripper without teaching all the points.
The 2 grippers are mounted on the robot flange and they have a 90 deg angle.
KRC2 / How to programm quickly 2 Gripper
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user17 -
July 20, 2017 at 11:25 AM -
Thread is marked as Resolved.
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ok, 17 views and no reply then may be this concret question explains more what i am thinking about.
I have 2 Gripper so 2 TCP. i want the same behaviour from the robot but with the second gripper. The robot now works fine with the first gripper.
I will duplicate the programm and then use the same points (which are in the actual prg related to tool[1]:gripper 1) and i change only the tool parameter (refered this time to my TCP from gripper 2 )to be suitable with what i need.Would this work fine, at least for the PTP command?
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yes (unless there is a need for different value of status and turn)
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thanks for the response.
this could be a problem with the PTP command. I read in this forum that the LIN Command ignores the values of S & T. So if this doesn't work i can think about 2 solutions:
- First Solution : try to teach an auxiliary point before any PTP command in the original code if an error due S or T is generated when trying to drive this point with the second gripper.
- 2nd Solution : i try to modify the values of s & t of the teached points, within the problem occurs ( in the *.dat Files) without changing the coordinates.Which Solution do you judge suitable?
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3rd: on first run of the program: temporarily change the PTP to LIN, let the robot move to that point (sometimes manual movement and line select necessary),
touch up and rechange to PTP. (it's kind of mixing Your 1st and 2nd solution), and my prefered in such cases.