Hi everybody;
I am very newbe in robot programming.
But I have many experiance about automation and microcontroller.
I am working grinding and polishing for hot forging handtools.
Now I am using very old KRC1 and KR150.
Sytems:
1-One magazine unit for tools.
2-Two belt type grinding machine
3-One belt type polshing machine.
4-Two each b&w camera for tool measuring(before grinding)
5-Hitachi plc with device net card and operater panel.
6-Pc inside Halcon vision software plus Beckhoff devicenet card.
Handtool have 11 each surface.Now system very good working.
I am sending xyz,abc offset value for each surface via operater panel from PLC.
Grinding and polishing good but not excellent.
From hot forging handtool phisical dimesions not same sometimes different.
But I was planing camera measuring for gripper errors(Holding errors) and forging errors.
Now Halcon vision software calculate error of x,y,z .
Also I am planning calculate ABC angular errors.
Now question
In robot I have one tool(gripper) and 3 base (2 base for grinding,1 base for polshing)
In robot application for correction,best way tool shifting or base shifting?.
Thank You
