KRC4 Controller, KUKA 5 ARC, 6 kg payload robot
Question is regarding correct usage of default base and tool calibration. Documentation mentions that by default base and tool center points are located at WORLD and Flange center point respectively. This is what I want for my vision application(HandEye calibration). For some other application, tool and base calibration were done for the robot and stored in the controller. To revert back to the DEFAULT config, I have performed following steps.
Step 1: I have defined a new tool(T2) and base(B2) and their values were set to (0,0,0,0,0,0).
Step 2: In the CONFIG.DAT file, I have changed the default tool and base to T2 and B2 respectively.
I move the robot and record the TCP position. This information is used for HandEye calibration.
Calibration results are way off and the problem seems to be with the robot positional data. Now I have following questions.
Is Step 1 the right way to locate TCP and base at their default positions, If yes then how can I verify. If no, could anyone please tell me what is the correct procedure. Please let me know if additional details are required.
Thanks,
Madhu