Abstract: A tool changer set out having a master unit and a tool unit. The master unit comprises a safety controller with two separate processing circuitries, a coupler and at least two coupling sensors. The tool unit comprises at least one tool unit sensor, the at least one tool unit sensor provides two output signals sent to the safety controller. The at least two coupling sensors individually detect if the tool unit is coupled to the master unit and the output signals are sent to the safety controller. The two separate processing circuitries are arranged to receive a request to decouple the tool unit, determine whether the tool unit is coupled to the master unit and whether the tool unit is in the tool stand, send the result of the determinations to other processing circuitry, receive a result of determinations and send a decouple signal.

Abstract: A tool changer set out having a master unit and a tool unit. The master unit comprises a safety controller with two separate processing circuitries, a coupler and at least two coupling sensors. The tool unit comprises at least one tool unit sensor, the at least one tool unit sensor provides two output signals sent to the safety controller. The at least two coupling sensors individually detect if the tool unit is coupled to the master unit and the output signals are sent to the safety controller. The two separate processing circuitries are arranged to receive a request to decouple the tool unit, determine whether the tool unit is coupled to the master unit and whether the tool unit is in the tool stand, send the result of the determinations to other processing circuitry, receive a result of determinations and send a decouple signal.

Abstract: A system and a method for controlling movements of an industrial robot during a work cycle including visiting and performing work on a plurality of workstations in a work cell. The system includes a set of predefined workstations. Each workstation includes preprogrammed robot code adapted to the workstation, an entry point defining the entrance position to the workstation, and one or more predefined paths to be followed by the robot at the workstation. A user interface is adapted to provide information about the predefined workstations and allows an operator to select one or more of the predefined workstations and to specify a desired part flow between the workstations. A scheduling unit is adapted during execution of the work cycle to schedule the execution order for the workstations based on the workstations selected from the predefined workstations and the desired part flow, and to control the movements of the robot based on the scheduled execution order and the predefined paths.

Abstract: A system and a method for controlling movements of an industrial robot during a work cycle including visiting and performing work on a plurality of workstations in a work cell. The system includes a set of predefined workstations. Each workstation includes preprogrammed robot code adapted to the workstation, an entry point defining the entrance position to the workstation, and one or more predefined paths to be followed by the robot at the workstation. A user interface is adapted to provide information about the predefined workstations and allows an operator to select one or more of the predefined workstations and to specify a desired part flow between the workstations. A scheduling unit is adapted during execution of the work cycle to schedule the execution order for the workstations based on the workstations selected from the predefined workstations and the desired part flow, and to control the movements of the robot based on the scheduled execution order and the predefined paths.

Abstract: A robot having a spindle is calibrated by disposing a calibration tool in the robot spindle. The position of the calibration tool is measured. An axis of the spindle is determined based on the measured position. A calibration tool center point is determined based on the measured position. A robot tool rotation axis is determined based on the determined spindle axis, robot tool center point, the determined calibration tool center point, and difference in length between the calibration tool and a robot tool.

Abstract: A method for fine tuning of a robot program for a robot application comprising an industrial robot, a tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the method comprises: defining a fine tuning coordinate system Xft, Yft, Zft, selecting one of said programmed poses pi, calculating said selected pose in the fine tuning coordinate system, producing program instructions for said selected pose in the fine tuning coordinate system, running said one or more program instructions by the robot, determining the difference between the pose obtained after running the program instructions and the desired pose, adjusting the fine tuning coordinate system in dependence of said difference, producing program instructions for said selected pose in the adjusted fine tuning coordinate system Xft′, Yft′, Zft′

Abstract: A method for programming of a robot application comprising an industrial robot having a robot coordinate system, a tool having a tool coordinate system and a work object (3) to be processed by the tool. The application is programmed by means of a position-measuring unit (15) adapted for measuring positions relative a measuring coordinate system (db). The programming method comprises: selecting an object reference structure (25) on the object, defining a mathematical model for the object reference structure, defining an object coordinate system (o2), providing measurements by the position-measuring unit on the surface of the object reference structure, determining the object coordinate system in relation to the measuring coordinate system (db) by best fit between said measurements and said mathematical model of the object reference structure.

Abstract: A method for fine tuning of a robot program for a robot application comprising an industrial robot, a tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the method comprises: defining a fine tuning coordinate system Xft, Yft, Zft, selecting one of said programmed poses pi, calculating said selected pose in the fine tuning coordinate system, producing program instructions for said selected pose in the fine tuning coordinate system, running said one or more program instructions by the robot, determining the difference between the pose obtained after running the program instructions and the desired pose, adjusting the fine tuning coordinate system in dependence of said difference, producing program instructions for said selected pose in the adjusted fine tuning coordinate system Xft′, Yft′, Zft′

Abstract: A method for programming of a robot application comprising an industrial robot having a robot coordinate system, a tool having a tool coordinate system and a work object (3) to be processed by the tool. The application is programmed by means of a position-measuring unit (15) adapted for measuring positions relative a measuring coordinate system (db). The programming method comprises: selecting an object reference structure (25) on the object, defining a mathematical model for the object reference structure, defining an object coordinate system (o2), providing measurements by the position-measuring unit on the surface of the object reference structure, determining the object coordinate system in relation to the measuring coordinate system (db) by best fit between said measurements and said mathematical model of the object reference structure.

Abstract: A robot having a spindle is calibrated by disposing a calibration tool in the robot spindle. The position of the calibration tool is measured. An axis of the spindle is determined based on the measured position. A calibration tool center point is determined based on the measured position. A robot tool rotation axis is determined based on the determined spindle axis, robot tool center point, the determined calibration tool center point, and difference in length between the calibration tool and a robot tool.

Abstract: An industrial robot has a control system with a program memory. During programming, the robot is manually controlled to a sequence of desired positions. At each position, an operating member may be activated to store into the program memory an instruction containing both information about the robot position and information about robot operation at that position.Suitably information about robot operation is entered in the form of identification of a sub-program containing a set or sequence of control signals which have been stored in advance. The sub-program is suitably identified by a number fetched from a buffer memory. For each of the instructions, during the execution of the main program, on the one hand the positioning of the robot is executed and, on the other hand, the sub-program is called and executed.