Hi.
KRC 4
KR360R2830 C4 FLR
I have a big problem with calibrating a new tool and finding TCP. I've tried a two methods (Numeric input and XYZ 4-point method) and none of them gave a good results.
First when I try XYZ 4-point method, I choose a points with different angles greater than 10deg on all rotations, but KUKA gave me a error 30mm. When I try with smaller and smaller angles the error began to decline. At the end I came to error of 0.4mm but the angles of rotations being on the edge of difference(very very small). After finding the TCP I use ABC 2-point method for defining the orientation. When I finish all procedures I've tried to rotate the TCP but the results are very bad. When I rotate A of the tool the error was 24mm for rotation of 180deg, for other rotations error was approximately the same.
Second method I've used was Numeric input. I enter All values for offsets, mass, moment of inertia from CAD. And then when I try to rotate A, I see almost none error, but when I rotate B error was aprox. 20mm for 180deg, for C is worse. Also it seems they rotate around different points.
Before all I've master all axes with dial gauge.
Robot
KRC 4
KR360R2830 C4 FLR