We are implementing robots into our production for machine tending purposes. We have a Fanuc R2000ib and a UR10e. Right now we are experiencing troubles with teaching our chuck center. We can not just grab a part and jog the robot to the chuck jaws and save that position. These robots need to have variability in being able to run parts of different sizes in length and OD. We base everything of our chuck face and use equations and variables based on part dimensions to tell the robot how far from the chuck face it needs to leave the part. The method we are using now is basically a long part with a bore is placed in the chuck jaws, and we make a long plug and grab with the grippers. then we drive that plug into the bore until the faces are touching. this gives a semi accurate chuck center, but it is not perfect. We were hoping someone might have a better idea of how to teach chuck center to the robots.
Thanks