Hi All,
I have a Kuka 30-3 robot running KSS 8.2 with a KRC4 controller and a rotary table added as an external axis which sits in front of the robot. The table can rotate infinitely positively and negatively.
It is a milling application with a spindle fitted to the robot and the work piece on the rotary table.
I am using robotmaster as my post processor.
Robotmaster has these requirements to work successfully.
1. The table must be able to rotate a large number of rotations in either direction
2. The table must move absolutely and not relatively
3. The dynamic frame for the base of the table must rotate as the table rotates.
Kuka gives three ways to define the axis
1. Rotary - Table is limited in rotation between +/-360 but will move absolutely and has a rotating dynamic frame
2. Linear - The dynamic frame moves linearly and does not rotate but will move absolutely with large number of rotations
3. Endless- The table only moves relatively but will allow large rotations and the dynamic frame rotates with the table.
So each axis has its own flaw.
Does anyone know of a way of changing any of the axis types remove any of there individual flaws.
Thanks