Hello guys,
i need your help!!!
I have KR90 R3100 ceiling with 2 external axis. I need to make some adjustments to robot frame, to make him move parallel to external axis (now it is also parallel, but not precise enough). I rented the laser tracker and made the calculations of the angles i need to adjust.
I was trying to modify "FRAME $ET1_TFLA3", but i noticed that it does not effects the robot behavior in the right way, probably because i have more transformations in use like:
FRAME $ET1_TA1KR={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C -90.0000} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET1
FRAME $ET1_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 90.0000,C 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET1_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET1_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B -90.0000,C 90.0000} ;ZWISCHEN FL UND A3
FRAME $ET1_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0} ;ZWISCHEN MESSPUNKT UND FL
Manual says that the right rotation sequence to use is C,B,A. i tried that, but only C rotations make a right effect... Probably i need to consider all the kinematic chain to reach the robot frame.?.
Thanks a lot.