Hi all,

I have to deburr a workpiece with variable dimensions. The Process is working but results are not 100%. The Robot makes alle the correct movements but it´s just deburring half of the part on each side, because it´s moving in a slight angle compared to the external tool, no matter what angle i set up the external tool system with. I´ve set up the tool1 again and tried to tune everything to it´s best, but i´m at my limit now.

The part of the program i´m talking about:

```
$ACC.CP=10
$VEL.CP= Geschwindigkeit_Gerade1+Korrektur_Geschw_Gerade1
LIN p0
LIN p1
$VEL.CP= Geschwindigkeit_Radius1+Korrektur_Geschw_Radius1
CIRC p2_HP,p2
$VEL.CP= Geschwindigkeit_Gerade1+Korrektur_Geschw_Gerade1
LIN p3
$VEL.CP= Geschwindigkeit_Radius1+Korrektur_Geschw_Radius1
CIRC p4_HP,p4
$VEL.CP= Geschwindigkeit_Gerade1+Korrektur_Geschw_Gerade1
LIN p5
$VEL.CP= Geschwindigkeit_Radius1+Korrektur_Geschw_Radius1
CIRC p6_HP,p6
$VEL.CP= Geschwindigkeit_Gerade1+Korrektur_Geschw_Gerade1
LIN p7
$VEL.CP= Geschwindigkeit_Radius1+Korrektur_Geschw_Radius1
CIRC p8_HP,p8
$VEL.CP= Geschwindigkeit_Gerade1+Korrektur_Geschw_Gerade1
LIN p9
LIN p10
```

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Tool and Base are set by an inline formular movement to a pre position at the beginning. Base is set to external tool 12, tool is set to tool1.

The single positions are calculated by the dimensions from the workpiece:

```
Z_corr=Korrekturwert_Y1+(Membranhoehe1/2)
p0=Xp1_calc
p1=Xp1_calc
p2=Xp1_calc
p3=Xp1_calc
p4=Xp1_calc
p5=Xp1_calc
p6=Xp1_calc
p7=Xp1_calc
p8=Xp1_calc
p9=Xp1_calc
Membranbreite1=Membranbreite1-Schnitttiefe1
Membranlaenge1=Membranlaenge1-Schnitttiefe1
p0.X= (-Membranlaenge1/2) + Schildradius
p0.Y= Membranbreite1
p0.Z= Z_corr
;startpunkt 1.Radius
p1.X=-(Membranlaenge1/2) + Schildradius
p1.Y= (Membranbreite1/2)
p1.Z= Z_corr
;HP 1.Radius
p2_HP.X = -(Membranlaenge1/2) + (Schildradius -(SIN(45)* Schildradius))
p2_HP.Y=(Membranbreite1/2) -(Schildradius- (SIN(45)*Schildradius))
p2_HP.A=p1.A-45
p2_HP.Z= Z_corr
;Endpunkt 1. radius
p2.X = -(Membranlaenge1/2)
p2.Y = Membranbreite1/2 - Schildradius
p2.A=p2.A+90
p2.Z= Z_corr
;startpunkt 2.Radius
p3.X=-(Membranlaenge1/2)
p3.Y=(-(Membranbreite1/2))+Schildradius
p3.A=p3.A+90
p3.Z=Z_corr
;HP 2.Radius
p4_HP.X = -(Membranlaenge1/2) +(Schildradius- (SIN(45)* Schildradius))
p4_HP.Y = -(Membranbreite1/2)+(Schildradius-(SIN(45)*Schildradius))
p4_HP.A=p3.A-135
p4_HP.Z= Z_corr
;Endpunkt 2. radius
p4.X = -(Membranlaenge1/2) + Schildradius
p4.Y = -(Membranbreite1/2)
p4.A=0
p4.Z=Z_corr;+0.5
;startpunkt 3.Radius
p5.X=(Membranlaenge1/2)-Schildradius
p5.Y=-(Membranbreite1/2)
p5.A=0
p5.Z=Z_corr
;HP 3.Radius
p6_HP.X = (Membranlaenge1/2)-Schildradius+(SIN(45)*Schildradius)
p6_HP.Y =- (Membranbreite1/2) +Schildradius- (SIN(45)* Schildradius)
;p6_HP.A=45
p6_HP.Z= Z_corr;+0.3
;Endpunkt 3. radius
p6.X = (Membranlaenge1/2)
p6.Y=-(Membranbreite1/2) + Schildradius
p6.A=p6.A-90
p6.Z=Z_corr
;startpunkt 4.Radius
p7.X=(Membranlaenge1/2)
p7.Y=(Membranbreite1/2)-Schildradius
p7.A=p7.A-90
p7.Z=Z_corr
;HP 4.Radius
p8_HP.X=(Membranlaenge1/2)-Schildradius+(SIN(45)*Schildradius)
p8_HP.Y=(Membranbreite1/2)-Schildradius+(SIN(45)* Schildradius)
p8_HP.Z= Z_corr
;Endpunkt 4. radius
p8.X=(Membranlaenge1/2)-Schildradius
p8.Y=(Membranbreite1/2)
p8.A=+180
p8.Z=Z_corr
;Endpunkt
p9.X=-(Membranlaenge1/2)
p9.Y=(Membranbreite1/2)
p9.A=-180
p9.Z=Z_corr
;Ausfahrposition
p10.X=-(Membranlaenge1/2)
p10.Y=Membranbreite1
p10.A=+180
p10.Z=Z_corr
```

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In every movement from an circular endpoint to an circular starting point, like from p2 to p3, there opens a slight gap between the deburring tool and the workpiece on half the way from p2 to p3 (visible in the picture "deburring_gap" ). like the robot would be moving in more than one axis, but the actual position shows no movement in that axis.

I tried adjusting the external tool angle but that didnt give me any results.

I would be happy to hear suggestions,

thanks and have a great day!