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Measurement By moving to some off-line programmed robot poses and taking measurements, it becomes possible to have a calibration file of this robot in no time. Using the same camera position, the robot’s position with respect to the workpiece can be identified exactly. A third component is the tool that can be measured on the robot by using the SpaceProbe. Dismounting the tool is not needed anymore. Compensation All this data is then transferred from the PC to a database that contains all measurement information about the robots, tools, bases and robot programs. This database is the key to downloading programs from the Off Line Programming environment to the real cell: any new program from the simulation passes a filter (ROCAL-RT), that uses information from this database. It will modify all nominal programs from the simulation by taking into account the robot errors, the difference between the real and the simulated tools and bases. This filtered program only has slightly different Cartesian positions. The syntax of the program itself is never changed. This makes that all programs can be downloaded directly without touch-up in the production line. Only a verification cycle in manual mode is required after program download. This verification takes 2 days during the weekend production stop. Without the Krypton system, more than 8 days were needed to get all the simulation programs working in the production line. Other undisclosed car manufacturers are using the same principle on a worldwide basis to reduce time-to-production and to increase quality and traceability. Hardware and software needs Hardware configuration:
Software configuration:
Training time 1 week (general system training: 0.5 days, Rocal-ID: 2 days, Geoloc: 1.5 days, Rocal-RT: 1 day)
Download: Mitsubishi uses Rocal calibration system to reduce time-to-production (PDF file) |
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