I have KRC4 Controller with KR16L8 robot,I have done some programms for components but without using Base co-ordinate , But Now the Rotating Positioner is shifted 65 mm away from robot in Y+ direction of Robot world co-ordinate,so how to shift all programs to minimize the work of reteaching.
Please suggest..
Program shift in KRC4
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mech8020 -
December 28, 2015 at 7:39 AM -
Thread is marked as Resolved.
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Thank you..,
but Where can i write the above instruction block for create a new base,
current no base selected. -
Since you did not teach tools or bases, and probably wrote all motions as likely inline forms - there is no easy solution. Your motion instructions are likely using default values with tool1 and base0. Each online form must be replaced. Also you really need to set correct loads for robot - otherwise you will get lower performance while stressing robot too much and causing it to wear out prematurely. Thats what you get by not doing proper commissioning (sadly this is rather frequent issue). I would highly recommend to take Programming1 training.
IK
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Hello, you can use orangedit program if you used inline forms, there you have block edit function which can overwrite all inline forms in one go with the same Base if you choose so. But make backup first and then try. For me it is working OK when I use big group of points (inline) and that same points in different locations of the cell.
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open the program highlight all the positions then press the edit button and select marked region then transform Cartesian world and do an offset
this could work just backup the program before you start