Plasma Cutting, torch height control RSI

[Galaxate]

My work had an old plasma cutter, and we are trying to repurpose it with a kr70 krc5. I am just wondering how i would integrate RSI for the torch height control and for any advice from other people who have done something similar

[Johannes @ Robots in Architecture]

Good Morning,

I don't know much about plasma cutting, please take that under consideration. However, I guess the approach is like in welding to define the global motion in KRL and then do the fine, local adjustments with RSI.
So from the integration side into KUKA|prc or PRC, there isn't much to do - you just activate the RSI context with a Custom KRL (KUKA|prc) or Custom Code (PRC) component at the right positions in the code. I don't have an RSI project at hand, but that part is well documented and pretty straightforward. The rest of the pathplanning you do as usual.

The tricky thing here is definitely the overall RSI setup - if you use RSI over Ethernet, you need to define an XML file what data goes in and out, or if you use a fieldbus, you need to wire it up in the IO part of WoV/iiQKA.Sim. In addition, you then define the RSI data processing in a visual programming environment - there you can scale sensor values, add filtering, etc.
That is the tricky part as it very much depends on your custom system.

Be careful when working with RSI as you have got very deep control of the robot - so you can cause damage to gears etc. It's important to restrict the range of correction to what you actually need. So don't just set it to +-1000mm if you just need a few millimetres of correction.

Hope that helps!
Best,
Johannes