After doing a 4 point calibration of a single or dual rotary with a Kuka robot, it is sometimes necessary to be able to supply that calibrated data to a offline programming or simulation system.
In both KRC4 and KRC2 this information can be found by doing a backup of the robot controller and searching the $config.dat and $machine.dat.
$config.dat
Search the file for "machine_def" and find the name of the rotary axis that was calibrated. The x,y,z,a,b,c values will be available for the center of rotation for the table.
NOTE: If this rotary has been configured for dynamic Base Number {user frame} this point will not be the actual center of the table but will be the root of the base of the rotary. [especially for a dual rotary]
Using this root data, you can extrapolate the centers of the 2 rotaries from the $machine.dat file.
Search the file for $ET1 or $ET2 {depending on the system configured} and the look at the KR and A1 values. Those values will give you the position and the orientation from the base or arm, respectively.
This data will allow for the position and orientation configuration of the external rotary axis.
Hope this helps. Kuka's 4 point calibration data is very accurate and wen using dynamic Base Number data, it is common to get very accurate results.
IAN.
