Restore after collision

  • Hello
    I need some help please.
    I had a collision in external mode and after that the robot position is not corect.
    Is there a procedure to restore the right positions.
    Unmaster and master again the axis with EMD will solve this?
    If is possible please quide me the steps.
    Thank you!

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  • Hi,


    I would suggest following steps:


    1). Check the robot for any physical damage like on the wrists, motors, encoders, especially in the area of collision.
    2). Check if you do not have any loose connections on the connectors of motor power and resolvers because of the damage.
    3). Perform mastering (First Mastering) if possible without load using EMD and then perform Mastering (Teach Offset) after installing the tool.
    4). Check if you still have error in positioning then I would suggest to go for calling KUKA guy to inspect.


    Thanks

  • Hello,
    Thank you for your answer.


    There is no damage on robot's arms. No connection problem. The collision was only with the gripper.


    Is there a variable to limit the torque in external to minimize the collision impact? or is no chance with velocity 100%?
    I will try with EMD

  • The problem is, at high speed, sheer inertia will often damage the tool before the torque detection can react. At high speed, the robot needs time and distance to come to a complete stop, even if you slam the brakes on instantly. There's no collision detection in the world that can save a tool that's moving rapidly.


    As for your positions being off, if only the tool was hit, then I would check the tool for damage. Often, tooling can become bent in events like this, making the TCP no longer correct. Try re-teaching your TCP and see how the new numbers compare to the previous ones.

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