KRC2 KR210 5.6 Software
We are currently using the KR210 to perform material handling and processing of exhaust pipe. Well occasionally the pipe with have a defect such as a material split or whatever which would cause our end points of our exhaust to vary. Currently if we have an discrepancy, the robot will crash the material into the face of our sizer tooling. The crashing isn't a problem with damaging any tooling, downtime is the concern as they run in fully automated cells. I was wondering if there was a way to utilize Torque Monitoring or something else of that sort through the robot to detect when a collision is going to occur and have the robot abort continuing forward and then proceed along with its program.
I have tried to have the Submit Interpreter read the $TORQ_DIFF when performing that particular task to try and sense excessive torque then call an interrupt and abort that step of the process. Torque Monitoring seems like it would be the perfect event handler for detect and pre-crash situation, but I do not what the robot to Brake and wait.
Thanks and sorry for the rambling it has been a eventful day so far and this is a project to alleviate the strain on our technical support.