Heyy all!
I am working with a krc 4 and I am mastering the robot axis but when I master axis 6 the hash mark does not line up?
Thanks!
Heyy all!
I am working with a krc 4 and I am mastering the robot axis but when I master axis 6 the hash mark does not line up?
Thanks!
Got a photo? I can't really understand what you mean.
You are trying to line up the correct marks? I haven't a bot here at home, but I seem to remember that you line up with a slot on the Quantec rather than two lines as on older ones.
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Robot model?
Usually, the hash marks aren't supposed to line up at Mastering position unless you're using an LWR or one of the robot models that doesn't use an EMT/EMD. The hash marks represent the starting point for the EMT/EMD mastering motion.
you did not mention robot type. KRC4 is a controller family (also not precise but at least it narrows down possible KSS).
since you mention problems mastering A6, i guess you have controller KRC4 compact and robot is one of Agilus models.
when talking about hash marks, there is an important distinction:
most marks are coarse/large and normally have white paint on them. those are the pre-alignment marks, indicating start position for EMD/EMT mastering. robot will always move mastered axis in the negative direction from here until it finds mechanical zero or reaches end of the search window. difference between pre-alignment mark and mechanical zero is usually about 1..3 degrees for rotary axes and maybe 2..5 mm for linear axes.
sometimes marks are precise (engraved as fine lines or 'caliper marks') and not covered by paint. those are the mechanical zero marks used for Dial mastering. on some small old robots this may be present on more than one axis (for example all wrist axes - A4,A5,A6). today this is rare - as far as i can tell, it is only seen on A6 of Agilus robots. even A6 on Agilus can still be mastered with EMD if one has mastering plate (mastering cartridge for Agilus A6 is not on a robot wrist, it is on mastering plate).
Hello again!
Sorry for the late reply and lack of information. as it is my first time posting on the forum.
Your posts helped me out. I appreciate it! Thank you!!!