So I am very green when it comes to robotics but I am learning. I have a KRC 2 HA that is being used to mill parting lines on an aluminum casting. The kuka has been sitting on the plant floor not being used for around 8 years. So I was tasked with making it useful again. After a lot of trial and error I was able to teach the points and have it milling again, however I fat fingered a point that was suppose to be a linear move as a PTP, this caused the robot to take a hard left and running in to the part. It over torqued and faulted. I moved the robot back to its home position and then back to the first cut position and it was about a half inch off in the opposite direction that it crashed. better explanation If it was at 0 and pushed in to the part by .5 when I brought it back to 0 it looks like its at -.5. I hope that makes sense. I remastered the robot but that did not seem to help at all.
KRC 2 HA milling robot crashed in to part now all the positions are off
-
bwolf -
December 6, 2016 at 12:34 PM -
Thread is marked as Resolved.
-
-
The only thing i can tell you is check everything:
- position of the part you are trying to mill.
- Position of the mill on the robot, you could also try to measure the Tool and see if this changes anything.
Most robot's are very strong so check if there could be any damage somewhere. -
While you did not state your KUKA arm model or controller model, most KUKAbots are designed to have the drive shafts or belts "slip" before the arm takes physical damage (like bending the arm). Axis slippage can be correct by re-mastering, but bending the arm so it does not match the kinematic model does not.
Check the TCP by installing a sharp pointed cutter and rotating around a fixed sharp pointer. If the robot drifts a lot, you may have damaged the robot or the tool mounting.
Assuming the arm isn't bent, the next thing to check is the mounting of the tool to the robot A6 flange -- you may want to remove the tool and check the dowel pins in the adapter plate. I've seen cases where a tool that looked fine had actually had the dowel pins snapped by such an impact, and the clearance holes for the mounting bolts had enough play to make the working end of the tool drift off substantially.
Also, if the TCP checks out fine, check the mounting of the robot to the floor. I've had some nasty surprises that way. And old concrete anchors can slip without looking like they have.
If those both check out, make an Archive of the robot, re-teach the TCP, and test it. Compare the old TCP values to the new ones to see what's changed.
-
is tooling damaged (bent bracket)?