I am trying to figure out the best way to perform an operation with my Robot. The system has a vacuum lifting frame attached and it is loading and unloading sheets of PVC plastic into a thermo-former. The problem I am trying to solve is how should I go about adjusting to the diminishing stack of raw material as the process is going on. I figured I can either:
A. program in an incremental drop every sheet and rely on the operator to reset the system when a fresh stack is loaded
B. run with a proximity sensor that senses the height of the stack as the robot lowers to it
B seems to be the more fail-safe option that does not require added input to prevent crashes, but being new to Kuka Robots I do not know how to tell the robot to move to a position over the stack, then lower in the Z direction until the proximity sensor activates. Any input, ideas, or program examples would be very much appreciated.
Kuka KR210 L150
Krc2 ED05 running 5.3.2