Anyone used the absolute accuracy tech package?
What is needed in terms to have the robot calibrated?
Absolute accuracy package
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vvelikov -
November 21, 2016 at 8:32 PM -
Thread is marked as Resolved.
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It not really a tech package.
You can not purchased the software and be done with it.
Robot needs to be measured with external laser system. -
vvelikov:
I hired last year RoboDK (http://www.robodk.com/) to come and calibrate with Creaform Stereoscopic cameras my robots. I can tell you with all honesty my KRC4 robot is now in the range of 0.150mm of positional accuracy, and my older KRC2 robots consistently less than 0.5mm. I would never use a robot again for highly detailed milling if not being calibrated and error compensated.
Great people to work with, awesome products that truly work, they will listen to your problem and will give you the right solution that you need for professional use.
PM me if you need more info.
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Hello again!
what i have is a robot with a diskette with this package and PID file as well.
Just don't know how to use it to enable the Absolute Accuracy on the robot in the right way.
The robot is on a track and i just installed it, just need to mount some cabling and i will be ready for milling hopefully!
I also have a SICK LMS200 sensor with it - the robot is a second hand one (KR150 L110 with KRC2 ed 05 and KSS 5.2) from BMW factory and there are two tools defined (visible from the config) "camera" and "stick"
Not sure what is the purpose of the SICK sensor - tracking device?
Another question - if i update to KSS 5.6 - is it possible to keep the whole system configuration intact?WIll update the thread when i start it and see whats on the screen...
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If it came with a "Diskette," I assume it's a KRC2?
If the robot was AA-calibrated from the factory, the model should still be active unless someone shut it off.
Upgrading to 5.6 shouldn't erase the PID file, but the diskette can be used to restore it, if necessary. (standard advice to image the entire hard drive with Ghost or Clonezilla equivalent FIRST THING after getting the robot to boot for the first time applies). Given how easily 3.5" disks decay these days, I strongly recommend making a backup copy of the disk's contents immediately.
Keep in mind, however, that the factory AA calibration will have been done using default payloads, and averaged across the entire work envelope, so your robot's actual performance may not achieve factory spec. Also, the robot has been worked hard for several years, so physical wear may have degraded the AA calibration.
In addition, you're now mounting the robot atop another axis, which adds flexibility to the robot base, which the AA calibration will not compensate for.SICK makes sensors of various kinds -- impossible to say without knowing the original end effector configuration.
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Thank you for the reply! The linear positioner is with this robot from the beginning as i can see from the documents - is it possible that they were calibrated together? The robot has only 697 hrs so i suppose it should be with valid specs..
The problem i have now is that i cannot move the robot it shows error "310 Drives disabled (extern)" - after i did the jumpering on X11 to be able to move it. The X11 is the 108 pin one, i jumpered it just like the sample in the help section. The robot is from a BMW factory
The KSS is 5.2.12 - the original one with the robot with Interbus installed on it.
As i wasn't sure if it was something from the old system i used another HDD and installed fresh KSS 5.6.9
The error now is "310 Safety circuit for drives not ready" and i still cant move the robot - the drives are not enabled - can't hear the noise when i press the deadman switch on the KCPI am attaching some photos - may be somebody can help me to solve this?
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On Friday, I had the same error in the robot. it turned out that one of the attachments at the drive at Teachpendant is jammed.Maybe you this helps.PS. You can give a few pictures of the robot
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Thanks, will check that tomorrow when i get back to the workshop.
When you saying jammed - you mean broken? Or just stuck? How you solve it?I am attaching a photo of the robot - we are still refreshing the place please don't pay attention to the environment
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the switch did not want to go back.In your case it may be a fuse if you short circuit x11.You are already ridden robot?
Also recently we had an opportunity to buy such a robot and it was with a BMW but someone bought it first.I wonder if it's not the same robot.
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What do you mean by "ridden robot"?
I checked all the fuses - they are OK. Also - no safety or external stop messages can be seen at the moment -
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What do you mean by "ridden robot"?
Earlier work normally?
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yes it was a working robot before i bought it
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This schematic is for 64 pin version of X11. Mine is the 108 pin one.
Thanks for the help! -
OK.
I could ask. -
Just checked and the problem definitely is not on the KCP or any of its buttons - i tried all of them and i can see that they are active, but the drives still are disabled
Any idea where to look?
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Try setting $DRIVES_OFF to 1025
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Thanks, will try it today and report
i think i tried that but i a not sure... on the original KSS - 5.2.12 - it was impossible to edit the I/O config - it is just gray - there is interbus hardware attached to the optical outputs and i wanted to switch the interbus off - not sure if that might be the reason
The whole system is with external box with on off buttons, another box - not sure its purpose but i suppose to manage the the SICK sensor.
Will do some photos today to show what is inside these boxes. Not sure if the jumpers of the X11 are bypassing these in full -
ok, the problem is solved - finally i moved the robot thank you all for the help!
The problem was with the connection in X11 on pins 41 to 42 - i were connected 42 and 43 - miss red the numbers on the socket
So now i am about to install the spindle and so on exciting stuff!
Will share when i get to that point! -
Hello everyone,
finally i am about to update the KSS on this system.
It is all working fine, luckily the working hours are about 700 so it moves smooth and nice!
What i tried today was to update the KSS from 5.2 to 5.6.9 but i have a message "Operating system doesn't match" and the setup stops. The system is winXP 2002 - that is what i can see on the screen.
Is there a way around this>? Or i should reinstall fully the WindowsXP? Or i just need to update? The WinXPE i have here is for full install from blank HDD and on top of that i would like to keep the Absolute Accuracy setup and i don't know if i can/how to add the PID file to a newly installed system.
Any advise will help i am attaching photo of the robot atm