Hi, I’m having a issue with RSI and external axes I hope you can help me out with.
We have a KR-16 suspended from a 3-axis Cartesian gantry. The gantry is set up as an #ERSYS external kinematic, and is therefore mathematically coupled with the robot. I want to use RSI ST_AXISCORR to control the robot from a external computer.
When I attempt to move the external axes, the robot compensates for this movement so the TCP stays in the same place. Is there any way I can disable this behavior so the robot joints won't move, and the TCP will move with the external axes?
In KRL i can get the wanted behavior by specifying more joint angles than for just the external axes.
For example:
PTP_REL {A1 0, E -100} ; Wanted behavior
PTP_REL{E -100} ; Unwanted behavior
I think a possible solution might be to change #ERSYS to #NONE, but I'm not sure what all the consequences of that change is. Are there safeguard for robot velocity\torque that will be affected by this? Can we still use some form of workspace monitoring without the mathematically coupled external kinematics?
Controller and software versions:
KRC2 2005ed with expansion cabinet
KR-16 with 3 axis gantry
KSS 5.4.11
RSI 2.2