Hi everyone!
I am currently working in a robotic deburing cell (R2000iA-210F and RJ3ib controller) and one of the main complications we've been having is the wear of the deburring stone. In our current installation the robot picks up a part from a tray and performs the path against the deburring stone which is approximately 400 mm in diameter. The problem is that with time the stone wears out and the deburring process becomes inneficient. I was wondering if there is a way of adding an automatic offset to the process and how to do it? An example would be adding a 1 mm offset every 100 cycles. The process occurs in a single plane so if I could add an x-axis offset to my user frame would probably solve the problem, but there must be a way of reverting that once we replace the deburring stone.
Thank you so much for the help in advance!
