Mastering: Teach Offset

    Hey All.

    Question regarding mastering with teach offset.


    1. First mastering has been done with EMT and no tool on the robot.

    2. I wish to do second mastering with load on the robot.


    I have a spindle mounted and use tools 1-16 for different milling bits. Their load, while different, is not of much concern to me and will change per jobs being run. So, my question is I only want to teach offset for the spindle with a collet and no tool and use this mastering data for all tools (1-16). Do I need to carry out teach offset for tools 1-16 or only for tool 1? Is this similar to load data that needs to be entered for all tools?


    This is on a KR150L130 KRC2 kss 4.1.3.

    Thanks Skyefire.

    As noted, I did a first mastering without a load on the robot. And then did a teach offset of with the spindle attached (calling it tool 1). My question is whether I need to do the teach offset for every tool number 1-16? I would do this without any actual tools in the spindle but am not sure how the robot controller integrates mastering data ( first mastering vs teach offset).


    1. should I ONLY do a first mastering with the spindle on the robot?

    2. should I do a teach offset with tools (1-16) with the spindle?


    Let's say I only do teach offset for tool 1 (spindle on the robot). I then call tool 2 in a program. Will it use the teach offset mastering or the first mastering data for positional reference? Again, I'm running a KR150L130 with a 41kg 6th axis load. Thanks.

    Ah, I see now. Hm... Okay, I can't say for certain, but I believe that the activation of the Teach Offset is linked to the Tool number ($ACT_TOOL), rather than to the current value of $LOAD. So, yes, you probably will need to perform a Teach Offset for every member of TOOL_DATA that you plan to use.

    In this case, there might be a better alternative: make TOOL_DATA[1] a "dynamic" tool, and instead of writing your program to use Tools 1-16, set the programs to use Tool 1 at all times, and add something at each change that re-writes the TCP data of Tool1, like TOOL_DATA[1] = TOOL_DATA[6]. That way, you could change the TCP data of the tool you're using, while still using the payload Offset data for Tool 1. It would save a lot of setup work, at the cost of somewhat greater program complexity.

    Unfortunately, I don't think there's a means to copy the Taught Offset from one tool into others (now watch, in 5min someone will pop up and tell us how wrong I am. :icon_rolleyes: )

    The whole point of mastering with offset is to get robot to compensate position based on load.
    First mastering is done without any load, then you would do mastering with offset for each load.

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    As Panic says, the entire point is to establish a reference, in the robot, of how much the payload throws off the Mastering. So, First Mastering must be performed with the robot "naked," nothing attached to it at all. Then the payload(s) must be mounted, and their LOAD_DATA values set, before carrying out the Teach Mastering for each Tool Number.

    By comparing the Mastering results between a no-load condition, and a known-load condition, the controller attempts to build a model for how much the payload will "distort" the robot, as compared to its ideal internal kinematic model, due to gravity effects. So if the payload has X effect on A2, and Y effect on A3, at Mastering position, then it projects that the effect at a long reach will be Z, and apply a corrective offset.

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