Hello everyone, I'm a little confused about how the robot find himself lost the reference position of axis, to compare the data between EDS and harddisk? if so, what is the files and how the check works in the background, thx
How does the robot identify the necessity to perform axis mastering?
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Sakya -
November 20, 2015 at 1:35 PM -
Thread is marked as Resolved.
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When the robot is powered down, copies of the current Mastering data are saved in parallel to both the Hard Drive and the RDC/RDW card EEPROM. If the controller is rebuilt or replaced, or the RDC is replaced, or if the power-down process is somehow interrupted (most often by dead batteries on the KRC2, though the KRC4 is far less vulnerable), these two data sets will not match. The KSS operating system monitors this data for mismatches, and generates a safety fault and an alert to the operator if the two data sets do not match at any time.
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Thanks Skyfire, and interested in more details about the C:\KRC\Roboter\Rdc folder,
1. When minimize the SmartHMI then switch to the windows original interface, Why couldnt find the folder only if hit "Save RDC data" in the robot data window of KSS,
2. I also noticed a file with .cal extension,
[AbsolutMotorValues]: means First mastering data?
[MotorDifference for Tool X] : means teach offset data for Tool X?
and what about [CalibrationDifference] ?
3. I remember there are other buttons except "Save RDC data" and what are their functions? -
Most of that information is proprietary. The .CAL file, if I recall correctly, contains the fine-tuning offsets for robots that have been given Absolute Accuracy calibration.
When the HD and RDC disagree, generally the buttons are to give the operator the choice of which one overwrites the other. This makes it possible to replace the robot, or the controller, without losing Mastering data (or other data, like the Hour Meter and Serial Number).