Ok, I searched the net for 1FK6100-8AF91-1ZZ9-Zs09 there's not much direct info. on this motor, also checked Siemens website:
[url=https://support.automation.siemens.com/WW/llisapi.dll…&subtype=133200,]https://support.automation.siemens.com/WW/llisapi.dll…&subtype=133200,[/url] searched for '1FK6100-8AF91-1ZZ9-Zs09', no result.
http://www.machinio.com/listings/56116…-1ZZ9-ZS09..not much in this site.
if you have a direct link please post here.
Rotary angle does not match
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happytriger2000 -
December 9, 2013 at 11:48 AM -
Thread is marked as Resolved.
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Siemens are not the only supplier of motors for KUKA there are 3 i think AEG is another one for sure
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Ok, I need to test this 1st:
Change N =-185 in MADA:
$RAT_MOT_AX[8]={N -185,D 1}
result-->
http://s1220.photobucket.com/user/happytrig…V06377.mp4.html
then
$RAT_MOT_AX[8]={N 1904,D 10}
http://s1220.photobucket.com/user/happytrig…V06379.mp4.htmlCode
Display More&ACCESS RVP &REL 1 &PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe &PARAM EDITMASK = * DEF E290A( ) ;FOLD INI ;FOLD BASISTECH INI GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) INTERRUPT ON 3 BAS (#INITMOV,0 ) ;ENDFOLD (BASISTECH INI) ;ENDFOLD (INI) ;FOLD PTP P2 Vel= 50 % PDATP2;%{PE}%R 5.2.26,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P2, 3:, 5:50, 7:PDATP2 $BWDSTART = FALSE PDAT_ACT = {VEL 50,ACC 100,APO_DIST 100} BAS(#PTP_DAT) FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE} BAS (#FRAMES) BAS (#VEL_PTP, 50) $H_POS = {A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0} PTP {A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0} ;ENDFOLD ;FOLD PTP P4 Vel= 50 % PDATP4 TOOL[6] BASE[6];%{PE}%R 5.2.26,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P4, 3:, 5:50, 7:PDATP4 $BWDSTART = FALSE PDAT_ACT = {VEL 50,ACC 100,APO_DIST 100} BAS(#PTP_DAT) FDAT_ACT = {TOOL_NO 6,BASE_NO 6,IPO_FRAME #BASE} BAS (#FRAMES) BAS (#VEL_PTP, 50) ;ENDFOLD PTP {E2 90.0} ;FOLD PTP P3 Vel= 50 % PDATP3;%{PE}%R 5.2.26,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P3, 3:, 5:50, 7:PDATP3 $BWDSTART = FALSE PDAT_ACT = {VEL 50,ACC 100,APO_DIST 100} BAS(#PTP_DAT) FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE} BAS (#FRAMES) BAS (#VEL_PTP, 50) $H_POS= {A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0} PTP {A1 5,A2 -90,A3 100,A4 5,A5 10,A6 -5,E1 0,E2 0,E3 0,E4 0,E5 0,E6 0} ;ENDFOLD END
I tried both N1904 and N-184, none of those reached 90 degree...
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just increase the value or decrease it till you get the right figures
i did mine by rotating to 360 looking at the robot position and ajusting the value untill it was correct 30 mins and it should be done
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The 1FK number is the Siemens part #. The Article-Number is the KUKA part #, we might be able to cross-reference that for the number of poles.
Leg has it right, though -- just tune in $RAT_MOT_AX by hand until you have a good working ratio. None of the "factory" numbers seem to match up to what you have, and I don't see any telltale signs of a 3/4 ratio that might indicate you have the wrong $RAT_MOT_ENC.
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Thanks,
will try my previous settings $RAT_MOT_AX[8]={N 520,D 1} and rotate to 360 degree. -
sorry I don't have details for that article number. also using full text search for entire Siemens part number will be a dead end - one must get the motor catalog and decode the part number character by character. I used to work with Siemens that was years ago and catalogs are recycled. Siemens offers them for download but the files are large.
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There's a KUKA file kicking around somewhere that references the motor parameters for use in the robot, but it's indexed by Article number, not by the 1FK Siemens number.
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sorry I don't have details for that article number. also using full text search for entire Siemens part number will be a dead end - one must get the motor catalog and decode the part number character by character. I used to work with Siemens that was years ago and catalogs are recycled. Siemens offers them for download but the files are large.Hey Panic mode,
You said you used worked for Siemens, are you familiar with Siemens CNC controller 810D? -
185,1 and 1904,10 are almost same. System using N/D ratio. As I see on the video, you should double that numbers.
It means, 370,1 or 3808,10 will be very close.
I think rat_mod_enc is correct because axis is moving smoothly.
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Going try:
$RAT_MOT_AX[8]={N 5712,D 10} :http://s1220.photobucket.com/user/happytrig…V06397.mp4.html
quite close 5~6 degree over.
and $RAT_MOT_AX[8]={N 555,D 1}:
4~5 degree over.
getting closer... -
If N 555, D1 = 94 deg. and N5712,D10 = 95 deg.
then 571.2 - 555 = 16.2 = 1 degree?, but the inclinometer is not accurate enough... -
Speaking from direct experience, it is possible to set $RAT_MOT_ENC to 3:1 on a 4:1 motor and still get smooth motion -- your scaling simply goes off by ~20%. The only reason I tracked it down to $RAT_MOT_ENC was that I knew the motor had just recently been swapped (turns out the Arctic version of an otherwise-identical motor had a different $RAT_MOT_ENC).
That being said, $RAT_MOT_ENC is an unlikely suspect here. It would just be nice to cover all the bases.
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Hello guys,
I'm back from holidays, will continue where I left off.I'm using the DXL300 to measure the angle of rotation.
In Mada-->edit $RAT_MOT_AX[8]={N 5295,D 10}
Rotate E2 to -360 degree (looking from the front is CW). DXL300 measures 0.00~0.02 before turning, when it reach to -360 I can barely see the value from the DXL300 because as soon as it reach -360 it turn to the other direction to home, this is caused by the program line 6:
1 Def E2-360()
2 + INI
3 + PTP P2 Vel=50 % PDATP2
4 + PTP P4 Vel=50% PDATP4 Tool[6] Base[6]
5 PTP {E2 -360}
6 + PTP P3 Vel=50% PDATP3
7 End
How do I delete line 6 colored in red in orange edit? or anyway to stop the E2 when reach -360 so I can read the value shown in DXL300?thanks,
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'WAIT SEC 10' goes after PTP {E2 -360} like this:
1 Def E2-360()
2 + INI
3 + PTP P2 Vel=50 % PDATP2
4 + PTP P4 Vel=50% PDATP4 Tool[6] Base[6]
5 PTP {E2 -360}
6 WAIT SEC 10
7+ PTP P3 Vel=50% PDATP3
8 Endwill try this tomorrow morning.
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You could even use a HALT command rather than the WAIT.
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Ok, Wait sec 10 worked quite well.
My reading from DXL300 was 0.02 before spinning and when reached -360 I got 0.00~0.02. Ok so E2 axis is set.
MADA = $RAT_MOT_AX[8]={N 529,D 1} -