I have to update the MADA on my robot and I need the correct procedure for it. Do not want to mess the installation.
I can do a full milling but I get the dimensions of the machined part Off by a good margin (+5% or more) and also when machining the position of the spindle is not perpendicular to the worktable as it should be (by ~4deg).
If I try to move along an axis, ex: Y axis, the monitoring shows only the number of that axis changing but the path is not linear, an arch going down. So, things are OFF.
If I try 4 point tool calibration the error is huge 50 mm.. or more. The TCP (based on manual measurements) rotates ABC on a point/axis way off its tip point.
According to previous posts that I read: 1) the Mastering is OFF (although unlike since I did this procedure to the letter three times) or 2) The MADA is not correct for the Robot (I am inclined to think this is the case since I upgraded the System recently and the HD and do not believe I choosed the right model ie MADA).
My robot sticker description is:
Model: KR2210L150 S C2 FLR ZH210 with KRC2 with KRC v5.6.10 and winxp (latest).
\MADA: KRC2\KR2210_SSCBS\L150\Floor\R1
Navigator screen shows: Machine Data #KR2210L150_2 S C2 FLR ZH210
I have the MADA files $machine.dat and $robcor.dat from the CD that match the robot sticker MADA, to replace in the corresponding R1 directory. BUT I need the correct procedure... so, I do not want mess up the install by just doing a copy and paste. (already happened to me before on another issue).
Would greatly appreciate your kind help.
Thanks.