Hello guys! Let's go to the third blog post! Something indispensable for maintenance in the industry is the easy and quick interpretation of the programming, for which it is essential to standardize the programming. If the maintainer visualizes the programming and in a few moments can understand the logic described, the maintenance of the equipment becomes faster! As my area of understanding is KUKA robotics, I will raise some points of KRL programming. Points that I think are important for a standardization of programming: -> If possible, use a main program with global subprograms. In the main program have the macro logical structure of the station and global subprograms with the specific logics for each process in which the robot does, some examples of subprograms: deposit machine 1, withdraw machine 1, deposit machine 2 and withdraw machine 2. So if example the maintainer visually verifies a problem in the deposit of machine 1, he already knows where in the program he will
Is the company's maintenance taking too long to save points in the schedule? But are you able to save it more easily? To save the points it is essential to create a TCP plus coordinate system, especially if the machines are not in level with the robot. See the example below: While the robot is manipulating, the deposit and handle position of this machine is angularly different from the robot's coordinate system, for example, when i have to move only the tool forward, due to the problem reported above i have to move the robot in X and Y making a "step ladder", this type of movement is very difficult when fine adjustments are needed. Remembering that the robot works on the right hand rule. After the creation of a TCP plus coordinate system for the tool, the adjustments became easier, since the robot's movement will be in relation to this created system. To move the robot forward in the new case, it would use only the Cartesian X axis. There are several items that m