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External axis KUKA KRC4 - reference frame
#1
Hello,
I am trying to programm a robotprogram including a turn table.
The axis is asynchronous because I only use it as a positioner.
I created a reference frame on my turn table and put every point in this frame, this helps me to see in which position I can reach them the best.

I generate the robot programm using the kuka post processor.

When I now run the programm on the Kuka I have the problem that the points doesn't match.
I think it is because they are all in the refernce frame on the turntable and the Kuka doens't now the actual position of that frame, because the turn table moves in between.

I attached a example program and the Kukacode.
When you run the program in robodk you can see that only the turntable has to move to reach the points.
But in my Kuka file the movement is done with the robot.


Attached Files
.zip   KUKACode.zip (Size: 1.37 KB / Downloads: 7)
.rdk   tabletest.rdk (Size: 975.15 KB / Downloads: 10)
#2
Can you share the source code of the table_0 and table_180 programs? You should not change the BASE and TOOL variables there (or call any BAS functions which could change your setup).

Can you provide more details about what type of movement the robot is trying to do with the first movement? (for example, the PTP movement on line 56 of the SRC file you hared)
Can you try generating the program using the default KUKA KRC4 post processor?

Also, make sure you selected the right robot in RoboDK. There are multiple versions of the KUKA KR6 robot.
#3
Quote:Can you share the source code of the table_0 and table_180 programs?

I didn't figured out how to generate KUKA code with RoboDK to only rotate the turntable as an async axis. So I wanted to insert the code manualy. The code would look something like this:
Code:
tablepos.e1=0
ASYPTP tablepos

WHILE $ASYNC_STATE == #BUSY
WAIT SEC 0.1
ENDWHILE

Quote:Can you provide more details about what type of movement the robot is trying to do with the first movement? (for example, the PTP movement on line 56 of the SRC file you hared)
I sent you the real application via email, because I am not allowed to post it here.


Quote:Can you try generating the program using the default KUKA KRC4 post processor?
I did this and have the same result.

Quote:Also, make sure you selected the right robot in RoboDK. There are multiple versions of the KUKA KR6 robot.
I double checked this.
#4
I see that your program looks like this when you generate it using the default post processor:
Code:
$BASE = {FRAME: X 439.971,Y 3.351,Z 1194.990,A 0.025,B 0.152,C -179.861}
$TOOL = {FRAME: X -17.350,Y 0.000,Z 205.000,A -180.000,B 65.000,C 0.000}
PTP {A1 -43.80280,A2 -102.78400,A3 125.50600,A4 94.98900,A5 90.76550,A6 -292.73100,E1 0.00000}
LIN {X 5.053,Y 23.884,Z 578.349,A 0.000,B -30.103,C 0.000,E1 0.00000}
PTP {A1 -57.34990,A2 -94.05930,A3 117.97400,A4 89.51920,A5 103.23900,A6 -293.43200,E1 0.00000}
Does it move to the correct axis values with the Joint/PTP movements?
How about the Linear/LIN movements?
  




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