Hi all,
I'm currently programming lot's of automatic toolchanges and drop off of end-effector onto zero-points.
Given how tight both of these can be, it's taking a while to get the program positions as desired to allow smooth motion and I would ideally like to find a quicker method.
The current methods I'm using are
1) to feel the vibration on the end-effector during the locating of the toolchanger or zero-points.
2) to watch the deflection
3) using feeler gauges to find the gaps between the robot and tool-side toolchangers.
I can then touch-up positions, rewind the program to reset the joints then play the program through again.
Looking for any tips or best practices on this challenge.
Thanks