Hi,
Does A1 have hardware limits? Are the sliprings there or the cables are wind?
Do A4 and A6 have hardware limits? They are capable of moving infinitely I guess.
Cez
Kuka 210 (150, 180, 240) axis hardware limits
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cezex -
November 27, 2013 at 4:54 AM -
Thread is marked as Resolved.
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A1 has hardware limits, the KRC4 is slightly different to older models as you can go over +-180 degrees. If you look at A1 it's obvious where they are!
There are no slip rings, the cables wind.
A6 can be set endless, I'm guessing A4 can be too although I've never tried it as if you want to spin something you can do it on A6.
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Tnx Eusty.
So I can set software limits for A4 and A6 to, let's say +/-3600°? -
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Some info I've dug up
Quote1 = LINEAR (e.g. linear traversing units) The axis value is converted to millimeters. A check is carried out for software limit switches.
2 = SPINDLE (special kinematics and spindle drives) The axis value is converted to millimeters. A check is carried out for software limit switches.
3 = ROTATIONAL (standard case: rotational axes; turning range from --358 to 358) The axis value is converted to degrees. A check is carried out for software limit switches.
4 = Finitely rotating The axis value is converted to degrees. A check is carried out for software limit switches. Finitely rotating axes are not implemented and must not be used.
5 = Infinitely rotating (e.g. robot axis 4 or 6) The axis value is converted to degrees. -
Endless mode can be handy, but you have to watch it. If it's at zero and you command it to turn to +185deg, it'll probably rotate the opposite way and go to -175 -- that being the shortest distance to achieve the same end result. Endless mode seems more suited to PTP_REL motions than to regular E6AXIS commands.
That said, I've used it as the rotation axis for an adhesive dispenser that had to rotate 400+deg during each dispense cycle, all with hand-taught points, and it worked well. But it only worked b/c the dispenser was fed through a central shaft seal, so there was no dressing to "wind up" around the axis.
The effect that setting A6 and/or A4 might have on LIN motions could be interesting. As long as there's no dressing to wind up, or a good "unwinding" operation every cycle, it should probably be successful. Although I have to admit I've never tried it.