Guys
Does anyone knows if I will be asked to use EMD tool to calibrate KR 30HA sometime? I mean... KR 30HA robot needs this kind of tool?
Guys
Does anyone knows if I will be asked to use EMD tool to calibrate KR 30HA sometime? I mean... KR 30HA robot needs this kind of tool?
Hi aguilera_br,
For mastering the KR30 HA robot, you need to have a KTL mastering set from KUKA.
[size=1.35em]robot does not need mastering tool ... unless mastering is needed. for positionally accurate robots (HA and ABS) you should use mastering with offset.[/size]
[size=1.35em]type of mastering tool depends on controller (and RDC).[/size]
[size=1.35em]if the robot is using KRC1 or KRC2 controller, you can use KTL (aka EMT).[/size]
[size=1.35em]if the robot is using KRC4 controller, you can use EMD.[/size]
[size=1.35em]If this is newer (modular) EMD such as 00-228-934 (SEMD) or 00-228-936 (Universal SEMD/MEMD), it is possible to master either but - for robots with older controllers, it still requires additional cable set 00-228-327.[/size]
[size=1.35em]00-182-747 is early SEMD (non-modular, electronics built into tool) comes with more compact case and just one cable. it can only be used with robots using KRC4 controllers.[/size]
[size=1.35em]For completeness sake, i will mention two more:[/size]
[size=1.35em]Small robots (Agilus) micro mastering tool is needed (MEMD 00-208-642). [/size]
[size=1.35em]And of course there is dial gauge for standard robots 01-029-739. This is mechanical tool and can be used on any robot with standard cartridge (not micro) but it is not preferred tool - it only allows standard mastering (not load offset) and use is more cumbersome.[/size]
I'm using KR30HA with a KRC4 controller. I'm worried about not having the EMD tool in a case of robot misalignment. My question is: do I really need to have this kind of tool? Could the robot loose the adjustments? My robot is using RSI interface, so it is controlled by an external computer.
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[size=1.35em]robot does not need mastering tool ... unless mastering is needed. for positionally accurate robots (HA and ABS) you should use mastering with offset.[/size][size=1.35em]type of mastering tool depends on controller (and RDC).[/size]
[size=1.35em]if the robot is using KRC1 or KRC2 controller, you can use KTL (aka EMT).[/size]
[size=1.35em]if the robot is using KRC4 controller, you can use EMD.[/size]
[size=1.35em]If this is newer (modular) EMD such as 00-228-934 (SEMD) or 00-228-936 (Universal SEMD/MEMD), it is possible to master either but - for robots with older controllers, it still requires additional cable set 00-228-327.[/size]
[size=1.35em]00-182-747 is early SEMD (non-modular, electronics built into tool) comes with more compact case and just one cable. it can only be used with robots using KRC4 controllers.[/size]
[size=1.35em]For completeness sake, i will mention two more:[/size]
[size=1.35em]Small robots (Agilus) micro mastering tool is needed (MEMD 00-208-642). [/size]
[size=1.35em]And of course there is dial gauge for standard robots 01-029-739. This is mechanical tool and can be used on any robot with standard cartridge (not micro) but it is not preferred tool - it only allows standard mastering (not load offset) and use is more cumbersome.[/size]
TL;DR: if you can afford one, buy it.
I don't know how You user your robot, but "time is money" quote is very real in industrial environments, and I think a SEMD would be cheaper than a production line stopped, waiting for a KUKA or an integrator technician.
You can perform mastering with a dial gauge, for example, but isn't that precise.
KUKA also recommends perform a "master check" in case of collisions or motor exchanging, for example.