DD215018B3

DD215018B3 - METHOD AND CIRCUIT ARRANGEMENT FOR SYNCHRONOUS CONTROL OF SUBSYSTEMS OF A COATING LINE

Info

Publication number: DD215018B3
Application number: DD25017283A
Authority: DD
Inventors: Michael Dipl-Ing Kramer; Guenter Dr-Ing Hornig
Original assignee: Lokomotivbau Elektrotech
Priority date: 1983-04-25
Filing date: 1983-04-25
Publication date: 1993-03-11
Also published as: DD215018A1

Description

Ist im Ergebnis des Vergleiches die Wegdifferenz größer Null, so wird über das mit dem Wegdifferenzsignal verknüpfte Synchronisiersignal ein zeitlich proportionales Schaltsignal gebildet, welches den zu schnell laufenden Antrieb für die ermittelte Zeitdauer anhält.If, as a result of the comparison, the path difference is greater than zero, a time-proportional switching signal is formed via the synchronization signal associated with the path difference signal, which stops the drive running too fast for the determined time duration.

In weiterer Ausbildung des erfindungsgemäßen Verfahrens wird zur Gleichlaufsteuerung von versetzt oder nebeneinanderliegend angeordneten Teil-Spritzsystemen eine zusätzliche Versatzgröße in Abhängigkeit von der Teilegeschwindigkeit gebildet und als zusätzliche Synchronisierungsgröße eingegeben.In a further embodiment of the method according to the invention, an additional offset variable is formed as a function of the part speed for synchronization control of staggered or juxtaposed partial spray systems and entered as an additional synchronization variable.

Die Schaltungsanordnung zur Durchführung des Verfahrens besteht erfindungsgemäß darin, daß ein erster Wegimpulseingang der Wegsteuerung, gebildet aus dem Weg- und Richtungsdiskriminator, dem Vor- und Rückwärtszähler, einer Logikbaugruppe, dem Speicher, der Koinzidenzbaugruppe, dem Interface, mit einem Ausgang des Führungsantriebes in Verbindung steht und daß die Wegsteuerung mit der in ihr enthaltenen Logikbaugruppe den ersten Wegimpulseingang und den zweiten Eingang für die Ist-Weg-Größe des oder der Folgeantriebe zusammenführt und der erste und der zweite Eingang der Logikbaugruppe mit dem Ausgang des entsprechenden Endpunktgebers verbunden ist und daß der zweite bis n-te Eingang eines Wegmeßsystems über Leitungen mit den Antrieben der η - 1 Teil-Beschichtungssysteme verbunden ist, wobei der Eingang für die Ist-Weg-Größe des oder der Folgeantriebe zum einen mit einem Ausgang des Wegmeßsystems und zum anderen mit einem ersten Eingang einer Synchronisierstufe in Verbindung steht und daß die Wegsteuerung über eine Leitung, zur Übertragung der digitalen Werte für die Ist-Weg-Größe des Führungsantriebes, mit einem zweiten Eingang der Synchronisierstufe verbunden ist. Ein dritter und ein vierter Eingang der Synchronisierstufe stehen weiterhin in Verbindung mit dem Ausgang des Bezugspunktgebers für den Führungsantrieb und dem Bezugspunktgeber für den (n - 1) Folgeantrieb. Ein fünfter Eingang der Synchronisierstufe ist weiterhin mit dem Eingang der Anlauf automatik verbunden, wobei der Ausgang der Anlauf automatik in bekannter Weise mit einem weiteren Eingang der Wegsteuereinrichtung in Verbindung steht. Ein sechster Eingang der Synchronisierstufe ist einerseits mit dem Ausgang der Teileerkennung und andererseits mit einem weiteren Eingang der Wegsteuereinrichtung verbunden. Die technologische Konstante wird dabei von der Eingabebaugruppe aus über eine Leitung über einen siebenten Eingang in die Synchronisierstufe eingegeben. Entsprechende Steuerausgänge der Synchronisierstufe stehen über eine Leitung mit dem Steuereingang des dem Führungsantrieb und dem Folgeantrieb zueordneten Schaltgliedes in Verbindung. Im folgenden soll das Verfahren am Beispiel einer Schaltungsanordnung näher beschrieben werden. Das in Blöcken dargestellte Ausführungsbeispiel zeigt in Form eines Prinzipschaltbildes die zur Durchführung des erfindungsgemäßen Verfahrens notwendige Schaltungsanordnung. Ausgangspunkt bildet die Grundschaltung für ein Teil-Beschichtungssystem, bestehend aus Teileerkennung, Aniaufautomatik, Wegsterung und Leistungsteuereinrichtung, wie sie bereits aus der DD-PS 205624 bekannt ist. Es sind zwei Teil-Beschichtungssysteme 1 und 2 mit den Beschichtungsorganen BI bzw. B 2 dargestellt, die direkt und im gleichen Abstand Z1 und Z2 vom zu beschichtenden Teil, welches an einem Förderer oder auf einem Rollgang mit konstanter Geschwindigkeit senkrecht zur Beschichtungsebene Y vorbeigeführt wird, spiegelbildlich angeordnet sind. Die Versatzgröße X besitzt nur Bedeutung bei einem oder mehreren spiegelbildlich und/oder versetzt gegenüber angeordneten Teil-Beschichtungssystemen. Jedes Teil-Beschichtungssystem besteht aus einem mechanischen Hubgerät mit einem Gleichstrommotor als Antrieb, einem Endpunktgeber E1 bzw. E 2 für Havariefälle, einem Bezugspunktgeber BP1 bzw. BP 2 und einem Schaltglied SG1 bzw. SG 2. Zur Grundeinstellung der Teil-Spritzsysteme und deren Antriebe A1 und A2 ist in den Ankerstromkreis des Antriebes eine kleine Drossel geschaltet. Im Prinzipschaltbild wird dieses durch die Drosseln L1 und L2 symbolisiert, welche sich je nach Fall in einem oder in beiden Ankerstromkreisen befinden können. Beide Teil-Spritzsysteme werden von einer Leistungssteuereinrichtung LE gespeist. Die Leistungssteuereinrichtung LE besteht aus einer an sich bekannten Stromrichteranordnung SR1, SR2 für Reversionsantriebe. Der Leitstromrichter SR1 dieser Stromrichteranordnung erhält als Eingangssignale den Geschwindigkeits-Ist-Wert Ѵ_ія des Führungsantriebes, den Geschwindigkeits-Soll-Wert V₁₀H über die Eingabebaugruppe EG und ein Wegsteuersignai W für die Reversiervorgänge von der Wegsteuerung WST des Führungsantriebes. Dem Führungsantrieb A1 ist eine an sich bekannte Einzel-Wegsteuerung WST (Speicher SP, Weg- und Richtungsdiskriminator RD, Vor/Rückwärtszähler V/R-Z, Koinzidenzbaugruppe KIZ, Interface IF), die erfindungsgemäß zusätzlich eine Logikbaugruppe LO („ODER'-Baugruppe) zur Verknüpfung der digitalen Werte für die Wegstrecke des Führungsantriebes mit den Werten der Ist-Wege s_M2 des Folgeantriebes A2 des Wegmeßsystems WMS (1 bis n) enthält, zugeordnet. I₂... I_n stellen dabei die Eingangsgrößen der Wegmeßsysteme WMS dar. Der jeweils größte Wert führt über die Koinzidenz- und Interfacestufe zu einem Steuersignal, das die Reversierung der Stromrichter einleitet. Die Wegsteuerung ist eingangsseitig weiterhin mit den Endpunktgebern E1 und E 2, die im Havariefall eine Notsteuerung einleiten, der Anlaufautomatik und der Eingabebaugruppe zur Eingabe der technologischen Daten, wie Geschwindigkeit, Beschichtungsart usw., verbunden.The circuit arrangement for carrying out the method according to the invention consists in that a first Wegimpulseingang the path control, formed from the path and direction discriminator, the forward and reverse counter, a logic module, the memory, the coincidence module, the interface with an output of the guide drive in combination and that the path control with the logic subassembly contained in it combines the first Wegimpulseingang and the second input for the actual path size of the following drives and the first and the second input of the logic module is connected to the output of the corresponding Endpunktgebers and that the second to nth input of a measuring system is connected via lines to the drives of the η - 1 partial coating systems, wherein the input for the actual path size of the slave drives or one with an output of Wegmeßsystems and on the other with a first Input of a synchronization stage in Ve connection and that the path control via a line, for transmitting the digital values for the actual path size of the guide drive, is connected to a second input of the synchronizing stage. A third and a fourth input of the synchronizing stage continue to be connected to the output of the reference point encoder for the guide drive and the reference point encoder for the (n - 1) follower drive. A fifth input of the synchronizing is further connected to the input of the start-up automatic, the output of the start-up automatic in a known manner with another input of the way control device is in communication. A sixth input of the synchronizing stage is connected on the one hand to the output of the part recognition and on the other hand to a further input of the path control device. The technological constant is entered from the input module via a line via a seventh input to the synchronization stage. Corresponding control outputs of the synchronizing stage are connected via a line to the control input of the guide drive and the follower drive associated switching element in combination. In the following, the method will be described in more detail using the example of a circuit arrangement. The embodiment shown in blocks shows in the form of a block diagram the necessary circuitry for carrying out the method according to the invention. Starting point is the basic circuit for a partial coating system, consisting of parts detection, automatic aniauf, Wegsterung and power control device, as it is already known from DD-PS 205624. There are two partial coating systems 1 and 2 with the coating organs BI and B 2 shown, which is guided directly and at the same distance Z1 and Z2 of the part to be coated, which is passed to a conveyor or on a roller table with a constant speed perpendicular to the coating plane Y. , are arranged in mirror image. The offset amount X has only meaning in one or more mirror-image and / or offset from arranged partial coating systems. Each partial coating system consists of a mechanical lifting device with a DC motor as the drive, an end point sensor E1 or E2 for emergencies, a reference point BP1 or BP 2 and a switching element SG1 or SG 2. For basic adjustment of the part-injection systems and their drives A1 and A2, a small throttle is connected in the armature circuit of the drive. In the schematic diagram this is symbolized by the chokes L1 and L2, which can be located in one or both armature circuits, as the case may be. Both partial injection systems are fed by a power controller LE. The power control device LE consists of a known converter arrangement SR1, SR2 for reversion drives. The Leitstromrichter SR1 this converter arrangement receives as input signals the actual speed value Ѵ _ія the guide _drive , the speed setpoint value V ₁₀ H via the input module EG and a Wegsteuersignai W for the reversing operations of the path control WST of the guide drive. The guide drive A1 is a per se known single-path control WST (memory SP, path and direction discriminator RD, up / down counter V / RZ, coincidence module KIZ, Interface IF), the invention additionally a logic board LO ("OR" module) for Linking of the digital values for the path of the guide drive with the values of the actual paths s _M2 of the slave drive A2 of the position measuring system WMS (1 to n) contains assigned. I ₂ ... I _n represent the input variables of the position measuring systems WMS. The respectively largest value leads via the coincidence and interface stage to a control signal which initiates the reversing of the power converters. The path control on the input side continues to be connected to the end point transmitters E1 and E2, which initiate an emergency control in the event of an accident, the automatic startup and the input module for inputting the technological data, such as speed, type of coating, etc.

Die Synchronisierstufe S, die eingangsseitig mit ihrem ersten Eingang über eine Leitung mit dem Anschlußpunkt Si,₁₂ der Wegsteuerung WST und gleichzeitig mit dem Ausgang des Wegmeßsystems WMS in Verbindung steht, die weiterhin mit ihrem zweiten Eingang mit dem digitalen Ausgang des Vor-/Rückwärts-Zählers V/R-Z der Wegsteuerung WST (Anschlußpunkt s_iIt1) und mit ihrem dritten und vierten Eingang mit den Bezugspunktgebern BP, und BP₂ der Teil-Beschichtungssysteme verbunden ist, bildet in einem Größer-Kleiner-Vergleich aus diesen Werten eine Wegdifferenz, die sie mit einer über den siebenten Eingang der Synchronisierstufe S eingegebenen technologischen Konstanten K vergleicht. Bei einem Differenzbetrag größer als Null wird der entsprechende Antrieb über das zugeordnete Schaltglied SG₁ und SG₂ dann für eine bestimmte Zeitdauer angehalten. Die verbale Beschreibung der Bildung des Synchronisiersignals in Form der Schaltsignale der Baugruppe SG sieht in reiner mathematisch exakter Schreibweise wie folgt aus:The synchronization stage S, whose input is connected to its first input via a line to the connection point Si, _{12 of} the path control WST and at the same time to the output of the position measuring system WMS, which furthermore communicates with its second input with the digital output of the forward / reverse direction. Counter V / RZ of the path control WST (terminal s _iIt1 ) and connected to its third and fourth input to the reference point BP, and BP _{2 of} the partial coating systems, forms a path difference in a greater-minor comparison of these values, they with a via the seventh input of the synchronizing S inputted technological constant K compares. With a difference greater than zero, the corresponding drive via the associated switching element SG ₁ and SG _{2 is} then stopped for a certain period of time. The verbal description of the formation of the synchronizing signal in the form of the switching signals of the module SG looks in pure mathematical exact notation as follows:

1. Bildung des Differenzsignals1. Formation of the difference signal

Sirti - Si _s t ₂ = Δ,

wobei Δ für das Ergebnis dieser Operation steht,where Δ stands for the result of this operation,

2. Vergleich derA-Werte mit der technologischen Konstanten K.2. Comparison of the A-values with the technological constant K.

Die technologische Konstante K stellt dabei die Toleranzschranke für die Abweichung der Teil-Beschichtungssysteme vom Führungsbeschichtungssystem dar.The technological constant K represents the tolerance limit for the deviation of the partial coating systems from the guide coating system.

In this size go u.a. on:

- das technologische Beschichtungsverfahren (Pulver-, elektrostatische Beschichtung),- the technological coating process (powder, electrostatic coating),

- Kompliziertheitsgrad der Teilegeometrie,- complexity of part geometry,

- die Genauigkeit der Teileerfassung usw.- the accuracy of part detection, etc.

Die technologische Konstante K wird experimentell für den jeweiligen technologischen Anwendungsfall bestimmt und dann eingegeben. Bei dem genannten Vorgang werden somit folgende mathematische Operationen durchgeführt:The technological constant K is determined experimentally for the respective technological application and then entered. In the process mentioned, the following mathematical operations are thus performed:

FaIIA) | Δ | = | 8 _1я1 - _3іи2 | <K FaIIB) | Δ | = s _IW1 -s _irt2 > K. For the case A is IΔI £ K, both systems are in synchronous position, no synchronizing signal is formed. For the case B, j is ΔI ^ K, the parts coating system is not in synchrony with the guide system, and it

wird somit über die Schaltglieder SG₁ oder SG₂ ein definiertes Abschalten erzwungen.Thus, a defined shutdown is forced via the switching elements SG ₁ or SG ₂ .

The sign of the differential signal provides information about which switching element is triggered. If this is positive, d. h., that Guide system is faster than the partial coating system, the switching element SG _{1 is} triggered and the corresponding Drive switched off. If the difference signal Δ negative, d. h., the partial coating system is faster than the guide system,

so wird das Schaltglied SG₂ ausgelöst. Die Zeitdauer der Abschaltung ergibt sich automatisch, da im Echtzeitregime ein ständigerso the switching element SG _{2 is} triggered. The duration of the shutdown results automatically, since in real time regime a permanent

Path comparison of the coating systems to each other and synchronicity of the corresponding drive again

zugeschaltet wird.is switched on.

For this purpose, according to the method according to the invention, the synchronizing stage S is still on the input side (seventh input) with the Part recognition TE connected, which signals a partial section and thus a coating break, in the Control signal to the associated switching element SG1 or SG 2 is continued. The parts detection TE is also the input side connected to the path control WST and transmitted at a Part change the new limit data, such as coating height Yi and part width X ₁ , to their memory SP. The automatic start-up AA is connected on the input side to the path control WST and the synchronization stage S. She realized

ein Anlaufprogramm, weiches die Teil-Beschichtungssysteme nach dem Zuschalten der Anlage in ihre Ausgangsstellen bringt,die Betriebsbereitschaft der Wegsteuerung WST, des Wegmeßsystems WMS, der Synchronisierstufe S und dera start-up program, which brings the partial coating systems after switching on the system in their output points, the operational readiness of the path control WST, the position measuring system WMS, the synchronizing stage S and the

Parts identification TE manufactures and forms a start signal for the coating system and the parts conveyor. At more complicated Part configuration can be the path control WST, the position measuring system WMS, the synchronization stage S and the automatic start-up AA advantageously be designed as a microcomputer MR. In the simplest case, this can be achieved by the In the start-up process, partial injection systems are controlled in the reference point transmitters BP1 and BP2 and their electrical signals transmitted via

ein logisches „UND" verknüpft werden. Dieses Signal gilt dann als Startsignal für den Teileförderer und die Beschichtungsanlageund ist über eine weitere logische „UND'-Verknüpfung mit den Koinzidenzsignalen in der Interfacestufe vereinigt und gibt beiThis signal then counts as a start signal for the parts conveyor and the coating system and is combined with the coincidence signals in the interface stage via a further logical "AND" operation

Starting position of the partial injection systems, the coincidence signals free.

Claims

1. A method for synchronous control of subsystems of a coating line, in particular for simultaneous, double-sided automatic coating of flat parts with openings, cutouts, etc. in the vertical direction, with a finite number of the same or changing parts of conveyors is guided perpendicular to the coating direction of the subsystems, using a path-speed control, characterized in that for the synchronization control of 1 to η partial coating systems of a coating line, which is formed from one or more mirror-inverted and / or offset oppositely arranged partial coating systems, within a through the parts width (X 1) characterized in that the coating height (YI) of the leading and guided partial coating systems (1) and (n-1) is detected simultaneously with part identification (TE) and that upon detection of a coating break (part ex nitt or -durchbruch) by the parts recognition (TE) and in the presence of a positive or negative path difference -absolut- the partial coating systems to each other synchronization by switching on and off of the corresponding drive is carried out and that the synchronization of the drives to each other by a permanent Small comparison of the distances traveled of the guide drive and the follower drives by an encrypted absolute difference signal is determined and that is compared with a technological constant (K), which is a tolerance variable for the maximum allowable path deviation of the sub-coating systems with each other, where in the experimentally determined technological constant (K) the constructive nature of the coating equipment, the respective technological coating process, the complexity of the part geometry, the parts assortment and the accuracy of parts detection are received, and is as a result of the comparison di e path difference greater than zero, a temporally porportional switching signal is formed on the synchronizing signal associated with the path difference signal, which stops the drive running too fast for the determined period of time.

2. The method according to claim 1, characterized in that for the synchronization control of staggered or juxtaposed part spray systems an additional offset size (X) formed as a function of the part speed and entered as an additional synchronization size.

3. A circuit arrangement for carrying out the method according to claims 1 and 2, in 1 to η partial coating systems using a part detection, a startup automatic, a path control and an input module, wherein there is a link between the individual modules, characterized in that a first Wegimpulseingang (I ₁ ) of the path control (WST), formed from the path and direction discriminator (RD), the up and down counter (V / RZ), a logic board (LO), the memory (SP), the coincidence board (KIZ) , the interface (IF), with an output of the guide drive (A1) is in communication and that the path control (WST) with the logic module contained therein (LO) the first Wegimpulseingang (I ₁ ) and the second input (s _ist2 ) for merges the actual path size of the slave drive or drives and the first and the second input of the logic module are connected to the output of the corresponding end point transmitter (E 1 or E 2) and in that the second to nth inputs (I ₂ to I _n ) of a position measuring system (WMS) are connected via lines to the drives of the η-1 partial coating systems, the input (Sist 2) representing the actual path size of the or the slave drives on the one hand with an output of the position measuring system (WMS) and on the other with a first input of a synchronizing stage (S) is in communication, and that the path control (WST) via a line, for transmitting the digital values for the actual path -Size (Sisti) of the guide drive (A ₁ ), to a second input of the synchronizing stage (S) is connected and that a third and a fourth input of the synchronizing stage (S) in conjunction with the output of reference point sensors (BP ₁ and BP ₂ ) the guide drive (A ₁ ) and the η - 1 follower drives (A ₂ ) and a fifth input to the input of the automatic startup (AA) is connected, wherein the output of the automatic startup (AA) in a known manner with another input of the Wegsteu (WST) is connected, and that a sixth input of the synchronizing stage (S) is connected on the one hand to the output of the parts recognition (TE) and on the other hand to another input of the path control device (WST) and the technological constant (K) of the Input module (EG) from via a line via a seventh input

is input to the synchronizing stage (S) and that corresponding control outputs of the synchronizing stage (S) via a line to the control input of the guide drive (A ₁ ) and the follower drive (A ₂ ) associated switching element (SG ₁ and SG ₂ ) are connected.

For this 1 page drawing

The invention relates to a method and a circuit arrangement for synchronous control of subsystems of a coating line, in particular for simultaneous, double-sided automatic coating of flat parts with openings, cutouts, etc. in the vertical direction, wherein the parts are passed continuously to conveyors perpendicular to the coating device and the coating line one or more mirror-image and / or oppositely arranged partial coating systems consists. The application of the invention is possible in all control systems and technological equipment for coating (eg paint spraying, plastic powder spraying) or sandblasting.

From DE-OS 2915908 a paint spraying device, in particular for spraying vehicle bodies is known, which consists of one or more spray guns, which are arranged opposite and horizontally and at which vertically and parallel to the coating plane on a conveyor or on a roller table, the bodies passed become. The disadvantage is that the spraying machines are constructed separately, which requires a great deal of technical effort in three spraying machines, and each spraying machine consists of a device for the reciprocating motion, a valve device and an automatic control for the stroke. The control of the spraying machines and the input of the values for the stroke paths are carried out via a common programmable logic controller.

A further disadvantage is that only six fixed preprogrammed strokes can be selected in the memory, which reduces the flexibility of the use of the injection molding machines The separate and autonomous operation of the spraying machines and the lack of synchronization of these with each other and with the conveyor proves to be a fundamental shortcoming and can lead to a faulty coating of the surface of the parts. The control of the coating line within a fixed preprogrammed stroke by switching on and off of the spray gun valve leads to increase the preprogrammed stroke, because the connection and disconnection must be outside the coating line, so incorrect coatings are avoided. The valves of the spray guns are subject to frequent switching increased wear, which reduces the reliability and increases the maintenance of the system.

Furthermore, an arrangement for double-sided automatic coating of flat parts with apertures and cutouts is known (see DD-PS 204042), where the spraying devices are arranged opposite one another and are mechanically coupled via a rigid shaft and thus also controlled. An electrical synchronization of the drives of both spray devices is omitted in this variant.

A disadvantage of such a system is the rigid coupling, the associated greater inertia, the complicated structural design and increased wear due to the mechanical coupling, which leads to a reduction in the reliability and thus the availability of the system and the entire system. Furthermore, such a system is not technologically flexible and can not be used in all degrees of protection.

Furthermore, methods and arrangements for the automatic coating of flat parts with different dimensions and changing parts assortment are known (see DD-PS 141465, 205624), where a synchronization of the spray gun subsystems to be treated Good. Each follower of a coating line (starting from the guide coating system) has a path control.

In these solutions, it is disadvantageous that no synchronization of the individual subsystems takes place relative to each other and therefore control-related path deviations from each other are not taken into account.

The aim of the invention is to increase the degree of automation of the coating line and the coating quality of the treated parts, as well as to reduce the use of material on the coating agent during the coating process. At the same time, the control effort of the entire system is to be reduced in order to increase the reliability of the partial coating systems and the entire charging system.

The invention has for its object to provide a method and a circuit arrangement for synchronous control of subsystems of a coating line, which are executed without own path control, which in a two-sided and simultaneous coating of flat parts by means of a mirror image and / or offset arranged opposite part Coating systems allows a coordinated synchronous control of the subsystems to each other for continuous coating throughout the technological process with simultaneous possibility of targeted and simultaneous movement stop at parts cutouts and gaps, the path control should be simplified so that when incorporating this coating line in a higher-level process control a reduced Number of interfaces for transmitting process data of the individual partial coating systems is given. The features of the invention are that for the synchronization control of 1 to η partial coating systems of a coating line, which is formed from one or more mirror images and / or offset arranged opposite partial coating systems within a characterized by the part width coating period, a distance detection of the coating height of leading and guided partial coating system with simultaneous part recognition is carried out and that upon detection of a coating break (partial cutout or breakthrough) by the part detection and in the presence of a positive or negative Wegdifferenz- absolutely - the sub-coating systems to synchronize by switching on and off the corresponding Drive takes place. The synchronization of the drives to each other is carried out by a constant larger-smaller comparison of the distances traveled of the guide drive and the follower drives, in which an encrypted absolute difference signal is determined, which with a technological constant, the tolerance size for the maximum allowable path deviation of the partial coating systems is compared with each other, wherein enter into the experimentally determined technological constant, the constructive nature of the coating system, the respective technological coating process, the complexity of the part geometry, the parts range and the accuracy of parts detection.