Hello,
I'm having a lot of issues figuring out how workspace monitoring works on a KRC4 4-axis KUKA.
I have moved my robot to a "Home" position.
I taught the Workspace 1 origin using the actual position of the robot at "Home" referencing Base[0] and Tool[5], with the "Outside" setting.
I taught the Workspace 2 origin using the actual position of the robot at "Home" referencing Base[0] and Tool[0], with the "Outside" setting.
I taught a program that moves the robot in a triangle where the 2 points other than "Home" were outside of the 250mmX250mm dimensioned cubes.
The first triangle of points referenced Base[0] and Tool[5].
The second triangle of points moved to the same physical positions, but referencing Base[0] and Tool[0].
When I ran the first triangle of points (Tool[5]), my Outputs for Workspace 1 AND Workspace 2 were ALWAYS high.
When I ran the second triangle of points (Tool[0]), my Outputs for Workspace1 would go low, and Workspace 2 was alway high.
The outputs triggered during the first triangle just seems wrong (one or the other should have go low at some point).
The outputs triggered during the second triangle seems backwards, based on the Tool # being referenced.
Does anyone have any insight on this?
I'm used to Fanucs, which have you teach to origin and dimensions of the workspace in reference to the world coordinates, but then it checks it against whichever tool number is active. This doesn't seem to be the case with KUKA, and I'm puzzled.
Thanks!