How to setup an automatic tool height adjustment system ?

Wall-E · November 5, 2021 at 3:39 PM

I'd like to set up an automatic tool height adjustment system, as in this video :

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That would be on a KRC4 system ; Robot : KR210 r3100.

I plan to do mostly milling and my spindle has an automatic tool changer too, so even though my tools will be preset, I'd like to have a systematic re-adjustment performed at each tool change.

Advice, someone ?

**panic mode** · November 5, 2021 at 4:21 PM

there are ready products for this or if DIY it is a simple interrupt based search. this was covered zillion times already

Dzonzi · November 5, 2021 at 11:56 PM

Buy this https://vmt-vision-technology.com/765/en/automotive/vmt-toolbox-3d

Wall-E · November 7, 2021 at 3:11 PM

Thanks for the link, but I'm not looking for a fancy 3d optic scanning tool.

Just a basic tool tip contact.

Wall-E · November 7, 2021 at 3:17 PM

Hi Panic,

I must be a very bad keyword search guy, or the search engine sucks, I don't know...

Would you mind pointing me towards one of those zillion posts ?

**panic mode** · November 7, 2021 at 4:15 PM

if you click on top link that takes you do manuals section, top post in there is an interrupt example

Interrupt Example

**panic mode** · November 7, 2021 at 5:29 PM

or something like this:

ISR_Search_And_Stop.SRC

Code

DEF ISR_Search_And_Stop( )

BAS(#INITMOV,0)  ; INI 
BAS(#TOOL, 1)    ; set tool 1
BAS(#BASE, 0)    ; set base as WORLD

; move to initial position
BAS(#VEL_PTP,50)  ; 50%
BAS(#ACC_PTP,100) ; 100%
PTP $AXIS_ACT   ; do a BCO (exteral axes too!)
PTP {A1 0, A2 -90, A3 90, A4 0, A5 90, A6 0} 

; first - setup search
INTERRUPT DECL 10 WHEN MySensor==TRUE DO Found_It()
FoundPos = {X 0} ; clear search result
WAIT FOR MySensor==FALSE ; make sure sensor is off

; then - perform search
INTERRUPT ON 10
Search()
INTERRUPT OFF 10

; then - display results
WAIT SEC 0 ; stop advance run pointer
IF VarState("FoundPos.Z")==#INITIALIZED THEN
  MsgNotify("Found at Z= %1 mm",,FoundPos.Z)
ELSE
  MsgNotify("Not Found")
ENDIF

END

DEF Search()
    ; for search use slow LIN motion 
  BAS(#VEL_CP,0.1) ; 0.1 m/s
  BAS(#ACC_CP,100) ; 100%
  LIN_REL {Z -200} ; move down - max 200mm
  WAIT SEC 0 ; stop advance run pointer
END

DEF Found_It()
  BRAKE  ; stop search motion
  FoundPos=$POS_INT ; save everything, not jut Z
  RESUME ; abort SEARCH() and resume main program
END

Display More

ISR_Search_And_Stop.DAT

Code

DEFDAT  ISR_Search_And_Stop PUBLIC
SIGNAL MySensor $IN[666] ; adapt as needed
DECL POS FoundPos={X 0}
ENDDAT

Wall-E · November 9, 2021 at 9:34 AM

Great ! I'm looking around for hardware and found this :

https://www.amazon.fr/Capteur-automa…005&sr=8-2&th=1

It looks like there is two versions :

-"Normally open"

-"Normally closed"

I guess that it will just either continuously be at "0" state or at "1" state until it is touched by the tool, and then it switches.

But what's the advantage of one over the other ?

Also, I see it has some kind of blower to clean the tool. I suppose it can be activated through the robot controller with an output and a solenoid valve...

Mentat · November 10, 2021 at 1:26 PM Best Answer

Quote from Wall-E

But what's the advantage of one over the other ?

Safety - when it inevitably breaks and always returns 0. The one that normally is at 0 won't seem any different from when it wasn't broken.

**SkyeFire** · November 11, 2021 at 12:26 AM

Quote from Wall-E

But what's the advantage of one over the other ?

Quote from Mentat

Safety - when it inevitably breaks and always returns 0. The one that normally is at 0 won't seem any different from when it wasn't broken.

As Mentat said. Imagine what would happen if someone unplugged the sensor, or just tripped over the cable and damaged it, or it just wore out. You want to pick your components such that, if a typical failure happens, you can see some indication of the issue before the robot hits something.

Wall-E · November 15, 2021 at 4:53 PM

OK, so the "Always closed" is to one to go for.

Thanks fellows.

How to setup an automatic tool height adjustment system ?

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