World coordinate system location differs in Robot vs Robotmaster.

[odinnb]

I have a Kr150L150 sp2 with Krc1 controller and a E1 (linear axis).
I am setting up a Milling spindle on the robot. I am using RobotMaster in MasterCam for posting out  SRC files.
The problem is that the location of the WCS is not the same in the robot and in Robotmaster. In Robotmaster the WCS is in the lowest point of the robot base...(or on top of the linear axis) but in the Robot the WCS is located in the lovest part off E1 (Linear Axis).

The question:
                      i)Can I change the WCS location on the robot so it matches Robotmaster output .(Lift it up in Z direction).
                      ii)Where can I do that?
Best regards
Odinn

[Fubini]

Hi,

you can not change the world system ($WORLD), but you can change the position of your external axis in $WORLD. This is done by setting up $ERSYSROOT in case you have a robot mounted on a linear axis or by setting up $ROBROOT in case your robot is not mounted on an external kinematic. Both ($ROBROOT and $ERSYSROOT) are located in R1/$machine.dat on your controller.

For the relation of the different frames is a picture in tzhe documentation.

Fubini

[SkyeFire]

The simplest solution would seem to be to create a different Base frame in the robot that agrees with RobotMaster's dimensions, and have RobotMaster create its output in that base frame.

There's also the question of how you E1 axis is configured: is it kinematically integrated?  How does RobotMaster think that the E1 axis is set up? 

[TylerRobertson]

by default Robotmaster assumes the robot world frame is at the zero point of the robot J1 Base (ie: like ABB, right where the bottom of the mounts are)

However as soon as you define a robot with an E1 rail, I believe it moves the world to be the bottom of the rail, and if it's a standard Kuka rail this is probably 425mm?

if you can change it on the robot, this could be easier... otherwise in Robotmaster this is part of the robot definition (like the system files on the robot itself).

if you open the ROBX file for that robot (it's in your KUKA folder),  there's a section marked:

<baseFrame>
                <position px="0.00000000" py="0.00000000" pz="0.00000000" />
                <orientation nx="1.00000000" ny="0.00000000" nz="0.00000000" ox="0.00000000" oy="-1.00000000" oz="0.00000000" ax="0.00000000" ay="0.00000000" az="-1.00000000" />
 </baseFrame>


if you change the pz value to lower the Z of the base frame - I'll use 425 as an example


 <baseFrame>
                <position px="0.00000000" py="0.00000000" pz="-425.00000000" />
                <orientation nx="1.00000000" ny="0.00000000" nz="0.00000000" ox="0.00000000" oy="-1.00000000" oz="0.00000000" ax="0.00000000" ay="0.00000000" az="-1.00000000" />
            </baseFrame>


the orientation matrix changes the position of the frame. you can use the rotation calculator for that.  in v6 (next version) there's a utility that takes care of this

[odinnb]

Hello TylerRobertson

Thank you for your reply.
I think changing the robot definition file (.robx) is the right way to do this :-)
I had been looking on that BaseFrame part ... but did not have the courage to change it ;-)
Now I have.

Correct me if I am wrong ... I just need to change this one "Pz" value from 0 to -425.00000000 (I do have a Kuka rail) and the problem is solved?

Thanks

Odinn

[MeanRobot]

Check your $machine.dat for the correct value.  Most likely (if your rail is your first external axis configuration) $ET1_TA1KR.Z holds the value you are looking for.

[odinnb]

Hi
I did what MeanRobot  suggested. Got the right offset from the $ET1_TA1KR.Z in $machine.dat.
FRAME $ET1_TA1KR={x 0.0,y 0.0,z 450.0,a 0.0,b 90.0,c 0.0}
So the right offset for my Linear axis is 450mm
I put 450 mm inside the BaseFrame part of the Robotmaster .Robx file (robot definition file).

This is working partly. But the tool on the end off the robot (in simulation inside mastercam/robotmaster) is not offsetting with the robot. See attachment.

TylerRobertson you talked about Rotation Calculator...did I missa a step or two :-/
Can you explain that better.

Best regards

Odinn

[david.niewinski]

the Rotation Calculator is under "Tools" in Global or Local settings

Sorry! there was a step missing. In the .XML file that is associated with the ROB there is a line at the top there

<transform id="world_transform" initialvalue="1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-1.00000000,0.00000000,0.00000000,0.00000000,0.00000000,-1.00000000,-425.00000000,0.00000000,0.00000000,0.00000000,1.00000000">
   

Yours will probably not have the -425 in it yet, so compare it to the line I just posted, and then change it to suit.

I'm not sure who your local tech support is - usually we set this up for people, but you can send me the robot setup (zip the robot folder) to check out at tyler.roberson@inhousesolutions.com

[david.niewinski]

sorry! this is Tyler, was on one of the other tech rep's computers

[odinnb]

Thank you Tyler

I sent you a mail with the "robot defination".

I appreciate your help.

Odinn

[odinnb]

Things fixed now... thank you all for the help.