I am looking to automatically and accurately find different bases in a robot cell (either by using a switching input laser or touch probe). I have a KR60 with a CR4 controller KSS 8.3, Touchsense, and fast measurement options. Has anyone used the touchsense to automatically find and update base coordinates? I was thinking of using a laser switching input to find 4 cutout square points for each base and use those points for the indirect method of base calibration. I do have the TRACC.TCP option as well to find the TCP repeatably and the mastering kit to master repeatably. Any suggestions would be great, thank you.
Automatic base finding
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VISTYART -
May 5, 2020 at 3:30 PM -
Thread is Unresolved
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TouchSense should include methods for updating Bases, unless I'm recalling incorrectly.
Creating Bases via the indirect method, that's a different kettle of fish. AFAIK, there's no way to access the Indirect Base user methods from inside a KRL program, but there have been a few KRL modules posted in the forum archives that contained the bare-bones math for performing the best-fit 6DOF calculation.
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i did exact same thing couple of years ago but i rolled my own... worked like charm
as always there are few things to watch for, such as size of beam at different distances, correct setup for laser TCP etc.
if cycle time is important, consider using fast measure inputs instead of regular DI.
base calculation used same code that was shared on this forum.