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KUKA table issue controller configuration

#1
Hi Everyone,

I am trying to mill the wide of a large piece of stone, but I require the table to rotate from 0 to 178.62 in order to make sure the face of the mill stays perpendicular to the face of the stone. I have calibrated a base fame for my tool, but the simulation in RoboDK is not what I am getting in real life.

The spindle lines up to start the program, then it starts turning in on itself. I have no issues with milling when everything is square on the table and a base frame is set.

Please see the attached cell setup and a short video on what happens.

Please forgive me as I have not had formal training, but I am working my way through it as I go. I think some of the issues I am having are the setting in RoboDK that do nor correlate with the settings of our Kuka.

Do you provide integration services remotely? Obviously paid.

If you offered in-house training, we would gladly pay for it.

Thank You!!!

Mike


Attached Files
.rdk   KR120 R2700 CELL WITH ROTARY.rdk (Size: 2.32 MB / Downloads: 123)
.zip   IMG_0874-compressed.zip (Size: 20.91 MB / Downloads: 102)
#2
You should properly configure the position of the turntable on your controller (also called the ROOT point in the KUKA controller). You can find some information on how to configure your turntable or external axes in the documentation:
https://robodk.com/doc/en/Robots-KUKA.ht...ADriverExt

We can provide remote training about RoboDK Software. However, our knowledge about the KUKA controller is not as extensive. We may be able to help you configure the turntable but I would not say we are experts when it comes to configuring the controller properly.
#3
Yes, I have looked over this documentation. When I have base 20 selected on the robot, I am able to move the robot and the table together with perfect interpolation. The tool is able to follow a point on the table. Is this something that I have to input in RoboDK?

Thanks,

Mike
#4
I noticed a small issue with your setup in RoboDK: If you are doing a machining task on an object attached to a turntable you should place the object or robot machining project attached to a reference frame attached to the turntable.

You should then link your robot machining project to this reference frame. You can also rename this coordinate system to Frame 20 so you can customize this ID in your post processor as mentioned in the documentation.


Attached Files
.rdk   KR120 R2700 CELL WITH ROTARY v2.rdk (Size: 2.32 MB / Downloads: 119)
  




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