Hey
how you can make a moving table for two positions?
Hey
how you can make a moving table for two positions?
how you can make such a table ? how it is made ?
you can use kuka positioner or make your own and run it as an external axis. for only two positions you may also use other types of actuators
Dear friend,
The robot on the video has a positioner , the positioner its not an original from kuka
here , on this page you can see the positioner originals
http://www.kuka-robotics.com/en/products/addons/positioner/
Also you can made your own positioner , with a servo motor and reductor , controlled by the robot
Well, I may also suggest a few things. The cost would also play a role.
Simplest solution would be to buy a motor and servo drive with an appropriate communication protocol like Profibus or Profinet to communicate with the robot. Create a simple interface between the robot and the drive and control the drive by the robot itself being robot controller as a master. Of course, you have to consider the mechanics involved and configure your drive as a rotary drive.
We have been using above-mentioned approach for significant years and its simple, reliable and cheaper solution.
Thanks
Hello
So I thought that this is the positioner, but does not want to kuki pozycionera.
I thought about stepper motor, but I do not know if it applies in pozycionerach.
As for the servo drive also thought about this solution only here nasówa question about the calibration of the additional axis.
Colleagues, if I choose servo drive, what I have to buy (what equipment you propose load of 300 kg) as a run on kuka, may have instructions (pdf) how to calibrate?
I saw also other positioner and from there pisoł are controlled inverter what do you think?
I was grateful for the instructions to run the servo from you.
Thank you
First of all, you will have to design the turntable using the specifications of weight and area with your mechanical designer. It also involves the gearing involved to rotate the turntable. I am not a mechanical engineer so can't put much info into it.
Secondly, purchase an electric motor (induction motor would suffice) with incremental/absolute encoder depending on your budget. You have to go for a servo drive (Siemens/Lenze) to control the motor as a rotary drive.
All this process include lots of mathematics depending on the weight distribution, the speed of rotation and various other factors which you need to get it done with someone experienced in your team or outside.
We may give you ideas but can't literally design a system for you, sitting in another part of the world, according to your need as we do not fully comprehend that.
Thanks
Hey
Can you explain the process of connecting to kuka? We can assume that already is the positioner and want to connect it to kuki krc2. What's next ? there is a manual in pdf?
thank you
Hi,
All the members have already explained how you can create your own turntable using a drive. You have to create a communication between the drive and robot controller using any of the protocol like Profibus, Profinet, etc, preferably, keeping KUKA as Master. Then, you can create a program in the controller which would set the target position to the drive and the turntable will move to the setpoint, of course, considering various interlocks. Thus, you will have 2 position setpoints for the drive and the turntable will rotate to the respective.
Please go through all the replies once again and try to get help from experts in your facility. If still, you find it difficult to fetch how to go ahead then I would recommend you to hire someone who is experienced in it.
Thanks
Recommended is to use a Kuka servomotor controlled by a driver KSD 1-16. Then you need cables.
One cable from KRC2 to 7-th axis motor for power.
One cable from KRC2 to RDC box on robot.
Another cable from RDC box to 7-th axis motor resolver socket.
You need also a set of cables inside of controller to connect KSD1-16, KPS 600,.... Indicated is to buy cables already prepared for 7-th axis in KRC2.
There is a manual for external axis configuring. You have to add settings in Mada and config.dat
I actually have not used myself but you might consider using different drive than servo. If you need only two position for your turntable then you can achieve accurate positioning by using mechanical turntable positioning. Then 180 deg rotating will be made by simple electrical motor (stopped on sensor) and final positioning will be tone by, for example cylinder driven brake or stopper.
Thus your payload 300kg need good mechanical solution.
hmmm... 300kg load driven by electric motor against a hardstop... and not just once but - each and every cycle... that would need to be one hell of a hardstop not to mention demands on motor circuit. doing 90% of travel by motor and then fine position by cylinder seems rather complicated. there are positioners (like Camco) that rely on simple drive but use mechanical transfer with cam and can stop on a dime.
finally, i was expecting someone to mention need to do proper sizing of the axis. without this, performance will be surprise too...
Dear Friend
A few weeks a go i been working on my own postioner Im glad to share with the forum and i hope help to you.
Any advice for other member i m glad to hear us
First , i had 3 old positioners brand "Expert " likes this :
http://www.eurobots.net/files/det_15_a…ocontrolled.jpg but smaller
The used positioner had a servo-motor brand "Indramat " i remove it , because the servo controller was very difficult to get on my country Mexico , and the motor was old.
so, the target its use the mechanical parts , reductor , base etc in a few words a "retrofit"
So , i contact to personal from DELTA
http://www.deltaww.com/
The personal from delta suggest to me servo motor 1kw with drive and interface to use a "PR" (Memories previously written on the the servo-drive and you can call from a external device , PLC by example ) All the kit arround 1,800 USD 2,000 USD including the cabinet and relays.
Then i just need to "adapt" the servomotor to the moto-reductor just with a plate drilled attached to the moto-reductor
One of the "keys" for this project its the training imparted from the personal from delta , its necessary check my moto-reductor and found the relation between the servo and reductor , in a few words how many spins from the servo are necessary to my moto-reductor turn a 1 degree , 45 degree 90 degree etc.
For the most common application you need turn 90 degrees , 45 degrees 180 degress, then using a software provided from delta you need to save the PR on a memory to the servo-drive
you can save 64 memories (movements) , but you only can use 15 , for my applications its enough.
For this app its necessary the next signals :
-SERVO ON
-TRIGGER
-BIT 0
-BIT 1
-BIT 2
-BIT 3
-Pulse to homming
-and set to 0
Now with all correct wiring and interface in my case Devicenet you need to set a home , with the signals pulse to homming and set to 0, the servo drive has a function to do this, you need to attach a sensors for homing and others 2 for Limit positive and limit negative.
I attached 2 sensors for homing, 2 sensors for limit positive and 2 sensors for limit negative in case for a failure a sensor the other sensor activate
Now you had you positioner on "home" and if i want to move the positioner at 90 degrees you need previosly saved on the PR 2 by example from my robot i turn on the next signals
-SERVO ON ON
-TRIGGER ON
-BIT 0 OFF
-BIT 1 ON
-BIT 2 OFF
-BIT 3 OFF
-Pulse to homming OFF
-and set to 0 OFF
and if i want to move 180 degrees previously saved on PR 8 i turn on the next signals :
-SERVO ON ON
-TRIGGER ON
-BIT 0 OFF
-BIT 1 OFF
-BIT 2 OFF
-BIT 3 ON
-Pulse to homming OFF
-and set to 0 OFF
Resuming the process its the next:
INI
HOME
homing ()
PTP
LIN
LIN
degrees_45 ()
PTP
PTP
PTP
LIN
degrees_90 ()
PTP
PTP
PTP
LIN
degrees_180 ()
PTP
PTP
PTP
LIN
homing ()
HOME
END
I attached pictures from the wiring and the program, and link with a brief video , and as you see i create sub-programs to call the differents movents , at now im "debugging " my project using logic and conditions on the sps and running tests also i need to work on the security and simulations process.
this is just a brief explication.
I admire colleague
thanks , Also you need to consider the weight, in theory i can load 1000kg.
My idea on the future its build my own positioner buying my moto-reductor.