Teach a position setting Axis Orientation and increments

  • Hi there,
    Is there any way to teach a position (to use as a "calibration home position" for example) setting axis orientation and increments?
    I developed a little tool that let my find when the axis of my spindle is completely vertical and parallel to the World Z. Then with the procedure to set tool orientation with the ABC World I can find the ABC values and the actual orientation of the axis of the spindle respect to the flange of the robot (I have to add +90° to the B value as my spindle is parallel to the X Flange axis).
    So, as this is supposed to be a quite precise position, which I reach with the smallest incremental moves that the KPS allows, and it takes at least 25 minutes to get back to this position if necessary─, I would like to be able to go back to it in an automated manner, but for this axis orientation or cartesian coordinates are not enough precise.
    Any suggestion?
    Best,
    Marco

    Kuka KR150-2 KRC2 ed05 V5.6.11<br />VFD TDE Macno<br />Spindle HSD ES915 with Automatic tool changer<br />Sprutcam 11

  • KPS is Kuka Power Supply, it provides power and it is not involved in motion planing.
    why do you need to make many small steps instead of one large?


    is this second hand robot?


    what exactly you want to accomplish? tool calibration? before you get to that step, check if your robot is using correct MADA, if it is calibrated correctly and if there are reputability issues.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • Sorry for the typos. It is a used robot. I just need to have a program to go back to this precise position and tool orientation. If I read a certain Axis value when I monitor axis positions, for example A2 -70.00°, I still read this value even if I change increments value using the 0.005° jogging increments. Changing the increment of such little steps, for a certain range, do not affects the value you read (-70.00°) but the tool orientation actually changes. I'm stressing about this because If I mill a flat surface with a 40mm diameter end mill then I see strips on the plane as the tool is not totally normal to the surface.

    Kuka KR150-2 KRC2 ed05 V5.6.11<br />VFD TDE Macno<br />Spindle HSD ES915 with Automatic tool changer<br />Sprutcam 11

  • where are you looking at robot position?


    values showing in Robot Position are rounded (just for reference) and small changes like this will not be noticeable.
    if you look at $AXIS_ACT in Monitor/Variables/Single, you should see actual value dwn to some 7 or 8 digits.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • This will be useful the get the right coordinates to go back to this reference point precisely indeed. I will look into this. Thanks a lot!
    Best,
    Marco

    Kuka KR150-2 KRC2 ed05 V5.6.11<br />VFD TDE Macno<br />Spindle HSD ES915 with Automatic tool changer<br />Sprutcam 11

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