I have a cell with two KR270 R2700 robots with KRC4 KSS8.3.
The robots are facing each other 4000mm apart. I have set ROBROOT on robot A to {X -2000, Y 0, Z 0, A 0, B 0, C 0}. I am trying to set ROBROOT on robot B to align its world coordinates with robot A. I did a 3-point base calibration on the robot B jogging robot A to {X 0, Y 0, Z 0} {X 1000, Y 0, Z 0} and {X 0, Y 1000, Z 0}. This works fine when this base is selected. I copied the base XYZABC values to ROBROOT but now when I select base 0 it doesn't quite match up.
How is ROBROOT defined what order are the values used?
Is the rotation applied first or the translation?
Calibrating ROBROOT to make two robots share the same coordinate system
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JimHough -
June 5, 2016 at 11:02 PM -
Thread is marked as Resolved.
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I have finally figured it out
The transformation for the base needed running through INV_POS before it could be used for ROBROOT.
I think it is because a base transformation is from $WORLD to the base where as ROBROOT transformation is the other way round?
To be honest I'm not entirely sure why it works, it just does .
Time to go and re-teach all my positions.