Hello,
If I don't have dial gauge or clock indicator to master a robot, or it damage during work.
can I master robot with encoder values or some other way??
Mastering KUKA robot without clock indicator
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Mansoor Ahmad -
July 22, 2016 at 7:09 AM -
Thread is marked as Resolved.
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Yes, it is possible...BUT I WOULD NOT RECOMMEND IT TO YOU....
You can manually set the reference after moving the robot to reference markups on the robot. I do not remember the exact MENU command and I am not close to the robot but yes it can be done. I will again emphasize that you should not try this and first arrange the tool to carry out mastering. If you are stuck and just want the robot to function for time being until you will arrange the mastering tool, you can try this option.
Thanks
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I will not make it regular practice. i will use it just in emergency cases.
• Menu->SETUP->measure
• Menu->Monitor-> Robot Positions.
Robot positions may work for this?? -
Nope, you have to go into mastering menu and there you would find. It's been quite a long time so I do not recall the exact path and couldn't even find it in Mastering manual. I did it on KSS 5.5 and did so because I had no EMT on site and had to run the robot while waiting for the EMT to arrive.
Thanks
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A few days ago, I had mailed to kuka. they said that it is not possible.
but i had seen one of my seniors, he did by this way but it was on simple linear(PTP) motion.I need to know this for angular motion axis of robots....
Please guide me, so that, i would be able to do this in case of emergency -
There is an emergency, field-expedient method, but it's not as accurate as using an EMT/EMD.
You use the Dial Mastering menu, but instead of attaching a dial indicator to the mastering gage, you press in the mastering gage pin (with the tip of a pen, for example -- DO NOT USE ANYTHING THAT WOULD MAR THE METAL SURFACE), and feel the transition while someone jogs the axis, Very Slowly (1-3%), in the negative direction, across the V-notch in the top of the mastering feature. The axis is at Master position when you feel the very bottom of the V-notch. Getting it dialed in may take several tries.
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Sir,
I need to know this via encoder values.
when we move axis its encoder values changes relatively.
at mastering position robots have some encoder values.
I need to know these values and menu at which we can view this change in value. -
No, you don't -- the encoder values are irrelevant. The Mastering process is dynamic -- when the Mastering process is completed, the RDC card records the encoder value at that position and treats that as 0 forever, or until something changes/erases it.
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or better, don't use dial gauge, use electronic mastering tool.