Author Topic: Implement automatic tool Z re-calibration with KUKA|prc ?  (Read 1504 times)

Xylotica

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Implement automatic tool Z re-calibration with KUKA|prc ?
« on: November 09, 2021, 09:55:10 AM »
I started a thread on the RobotForum about automatic tool Z re-calibration :
https://www.robot-forum.com/robotforum/thread/39818-how-to-setup-an-automatic-tool-height-adjustment-system/?postID=178254#post178306

Could this be somewhat integrated in KUKA|prc ?
Something like a  "Z check" component ?

In the same spirit, a fully functional "tool change" component would be handy, instead of describing all the actions like :
-Go to this frame to drop current tool
-Move slowly to current tool's support clip
-Output to "1" for tool release
-Retreat to safe frame
-Go to new tool's location
-etc...

One would simply specify the new tool to load/check , and the corresponding SRC code would be written automatically
« Last Edit: November 09, 2021, 10:03:16 AM by Xylotica »

Johannes @ Robots in Architecture

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Re: Implement automatic tool Z re-calibration with KUKA|prc ?
« Reply #1 on: November 09, 2021, 05:42:20 PM »
Hello,

The problem is that all these things are super-specific to individual setups - hardly any tool changer works the same. We recommend our partners - just had a meeting about that a while ago - to define a KRL function with all the logic and to put a defined axis position before and after the Custom-KRL component.
That way, even though the tool change is not simulated, the simulation is still accurate.

Regarding the tool length measurements that shouldn't be too complex:

Measure the triggering position of a pressure switch with a very short tool.
Move the new tool in a very safe distance (> longest tool) over the switch
Enable an interrupt with the switch
Move the robot downwards until the switch triggers.
Stop the robot
Use the Z-difference to the reference tool to calculate the new XYZABC values

It only gets a bit meaner if the tool is mounted with a strange orientation, then you need to do some trigonometry.
Best,
Johannes