The robot, a Mitsubishi RV-12SL, is equipped with a 4-fold gripper (star-shaped). The individual grippers are flexibly equipped with components (cover, front board, CPU or module) depending on the travel job and then assembled.
The modules are mounted by plugging them onto a top-hat rail, whereby the individual modules must be interlocked by the robot. The exact distance from one mounted module to the next is always determined by a measuring axis and the corresponding offset is transmitted to the robot.
The size of the possible, different combinations for the traverse paths when loading the grippers is approx. 500000.
automatic basic position movement of the robot from any situation
The first component is mounted on a top-hat rail using a taught position. All subsequent components are mounted on the basis of measured values which are determined between the individual mounting steps.
Communication to a higher-level control system (IPC) via the standard interface RS232.