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Posts by srtautomation

    UNCORRECTED MOTION POINTS 8 Extract PROGRAMS
    Machine 1
    UNCORRECTED TEACH POINTS
    PTP_INSIDE_MOLD_LOW1
    PTP_INSIDE_MOLD_HIGH1
    LIN_INSIDE_MOLD_PICK_1
    OUT 20 'plcoROBOT_NOT_CLEAR
    WAIT FOR plciEJECT_COMPLETE
    LIN_INSIDE_MOLD_HIGH1
    GRIP_PART()
    OUT 20 'plcoROBOT_NOT_CLEAR
    LIN_INSIDE_MOLD_LOW1
    Positions corrected by PLC
    WAIT_For PLC_Extract_Position
    Get_Corrected_Station()
    Corr_Station_PTP_INSIDE_MOLD_XLOW1
    Corr_Station_PTP_INSIDE_MOLD_XHIGH1
    Corr_Station_LIN_INSIDE_MOLD_XPICK1
    OUT 20 'plcoROBOT_NOT_CLEAR
    WAIT FOR plciEJECT_COMPLETE
    Corr_Station_LIN_INSIDE_MOLD_HIGH1
    GRIP_PART()
    OUT 20 'plcoROBOT_NOT_CLEAR
    Corr_Station_LIN_INSIDE_MOLD_LOW1

    Does anyone have experience using data from the PLC to Auto adjust pick position.


    Aluminum Castings extracted with a KRC4 Kuka Robot.

    Project- 8 Station Rotary

    Tilt Machines


    Objective is to take the Encoder position from the PLC & add code to the Extract Robot such as

    GET_CORR_FRAME() Using Base(Y position) to Auto Correct the Pick position.


    Any feedback is appreciated!


    SRTAutomation

    Thank you for the information.


    My main goal is to stop the robot in motion before the gate cut saw if a part is not clamped by both EOAT clamps.

    To prevent damage to the saw blade .



    WAIT FOR  NOT ( $IN[64] )

    trigger when distance = 0 delay = 0 do plcoROBOT_NOT_CLEAR = FALSE

    ;FOLD PTP REGRIP_LOC CONT Vel=100 % PDAT5 Tool[2]:WithPart Base[0];%{PE}%R 8.3.44,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:REGRIP_LOC, 3:C_DIS, 5:100, 7:PDAT5

    $BWDSTART=FALSE

    PDAT_ACT=PPDAT5

    FDAT_ACT=FREGRIP_LOC

    BAS(#PTP_PARAMS,100)

    PTP XREGRIP_LOC C_DIS

    ;ENDFOLD

    ENDIF


    I will delete the Wait 0 Sec logic

    Could i get a professional opinon on the Robot code to stop the robot if DI:64 part present is not on & Halt before the saw cuts.


    This is what i have so far & have not implemented the code yet.



    Open to opinions or different options

    Thank You,

    SRT

    Automation Technician

    Does anyone have experience with the Kuka Touch Sense software & programming.


    Working on an Automation Project with Kuka KRC2 Robot KR 210-F 2000.


    Note: Touch Sense is not used in this application for Welding.


    Using a Keyence laser for coordinates & grinding the Gates off a Aluminum casting with the measurement from the laser.


    SRT_Automation

    Yes there is part tracking in the PLC program but it has been unreliable- Until recently when more laser part present sensors were added to the conveyor.


    Both Robots currently have Vision system cameras that take a picture of the Part Hanger for X Axis coordinates.


    Works very consistantly on the Extract Robot that places the part in the Hanger.


    Saw Robot has had issues due to inconsistent pick positions due to the existing camera viewing the part hanger instead of the Part on the hanger.


    Kuka Robots- KRC4 KR C V8.3.35


    Going to upgrade to the Cognex vision System due to the ability of X,Y Axis coordinate correction & Taking an image of the part for 1mm Robot pick position accuracy.


    Doing research the next 2 weeks on adding 2nd set of correction values to the robot program for the Pick position from the conveyor Eliminating any EOAT clamp failures.

    Thank You for the feedback SkyFire.

    Currently using a Keyence vision system to look at the Part Hangers on a pack line conveyor.

    The camera takes a picture of a hole drilled in both sides of the part hanger.

    X Axis data is sent to the PLC then back to the Robot.


    Also keep in mind 2 robots are using the same conveyor from an overhead chain the part hanger is connected to.


    Extract Robot takes a part from a sand core shaker machine and places on the conveyor at one end.


    The Saw Robot picks the part from the same conveyor & processes the Aluminum Casting removing the Gating material.


    LIN CORR_FRAME:XPICK.


    I am looking into adding a 2nd camera to look at the part on the conveyor instead of the part hanger & get X,Y coordinates for the Robot.


    Any feedback on Adding the correction for Linear correction for X & Y would be appreciated.

    So let me get into more detail & yes i have been programming Kuka robots for several years & prefer Fanuc due due the programming advantages.


    I need to find out offline the data position of each pick position on a Extract Robot that has 8 different Part extract programs.


    Foundry robot picking parts out of a Aluminum casting tilt machine.


    Actual position data such as X,Y, Z to compare each position.


    Such as Machine 4 pick position has no issues at all with the pick position & no parts or robot damage.


    Machine 3 parts drop out further & still functional but having no downtime is critical so requires offline program troubleshooting.

    Looking into improving the programs on a Saw Robot & Extract Robot.


    I would like to add Variables or Position Registers Like Fanuc uses to make the programs more rigid.


    Also has any programers done this with Kuka so a program such as saw cuts-


    This would allow the program to be changed while running in Auto as well.


    Thank You

    SRTAutomation

    11:45AM Checked The Robot Reference position and noticed at home position in the programs and PR[1: HOME POSITION]


    Neither DO[8: AT HOME] or VO[7: At Perch] was on Keep in mind this is a refurbished robot and was recently installed.


    The home position had to be touched up a few weeks ago to a better location out of the furnace +Z:


    Recorded the reference position and both DO[8] & VO[7:] are on now.


    Also I was checking the DCS zones before lunch break and there is collision guard that I set to 130% but no DCS to be found- May have to get a firmware update.


    Shift_Lock I will add WAIT VO[7: AT Perch] in the 1st line of MAIN until the HOME_RETURN PROGRAM has been tested and finalized.


    Thanks for the Johnny INPUT ALL!


    srtautomation

    Thanks for the feedback.

    Some Details about the Robot cell:

    Foundry Robot R-2000iB 210F-

    The Robot EOAT is a square shaped Ladle that dips Molten Aluminium.

    Auto pours into 3 tilt casting machines.

    Last month on 2nd shift the robot crashed into the furnace divider and busted the ladle into pieces.

    Crashes have happened before and the robot crashed into the light curtain at Machine 1.

    This was due to MAINT pressing Abort all and then pressing cycle start on the HMI.

    The 1st call program in MAIN is PR[1:HOME POSITION] so the robot took the shortcut back home- Causing Chaos!


    The HOME_RETURN program is a call program that will be in the 1st line of MAIN.

    So anywhere in the cell if Abort all is pressed the Robot will return home without spilling hot metal, crashing, or limit faults.

    Thanks for the FEEDBACK!

    srtautomation

    HOME RETURN

    1: OVERRIDE=50%

    2: IF VO[7]=ON, JMP LBL [10]

    3: PR[20]=LPOS

    4: R[10: CURRENT X]=PR[20,1:Curpos]

    5:____

    6: R[11: CURRENT X]=PR[20,2:Curpos]

    7: PR[20,3:Curpos]=450 MAY HAVE TO CHANGE UPPER OR LOWER.

    8:L PR[20:Curpos] 200mm/sec FINE

    9: IF R[11:CURRENT Y]>0,JMP LBL[1]

    10:L PR[12: Home_ret2] 200mm/sec CNT25 MAY HAVE TO CHANGE PR[12] TO ANOTHER PR WITH A SAFE PATH HOME.

    11: LBL[1]

    12: IF R[10: CURRENT X]>1800,JMP LBL[3] MAY HAVE TO CHANGE TO >1800 AND TEST OPERATION WITH ABORT ALL AROUND THE CELL IN ALL PROGRAMS.

    13: JMP LBL[3]

    14:L PR[31: Home_SAFE_HOME2] 200mm/sec CNT25 MAY HAVE TO CHANGE PR[11] TO ANOTHER PR WITH A SAFE PATH HOME.

    PR[33:SAFE_HOME4] 200mm/sec CNT25

    P[1] 400mm/sec CNT50


    15: LBL [3]

    16:L PR[1: HOME POSITION] 200mm/sec FINE

    LBL[10]

    18:__

    19:__

    20:__

    [END]


    Change 12: IF R[10: CURRENT X] to >1800 instead of Less than 1800 8/14/19 11:20AM


    Note: This program works as planned while the robot is in the Furnace area but anywhere else in the cell it has Limit faults.


    Is there an option if to add multiple JMP LBL's in the same line?


    Any support is appreciated.

    Thank You

    SRTAutomation.

    Thanks for the Info the issue I have on getting all Axis to zero position is a furnace is in the way to move the robot in all axis to the 0 position. So if I update the Revolution counters I have to move Axis 1,2, & 3 update then move 4,5, & 6.
    to clear the furnace.
    So I may have to take off the end of arm tooling to get all positions to Zero then sync at zero position.