How to change the default used axes for "Automatic load data determination"?

Nope, you will have to enter tool data manually.

Sunrise 1.16 provides to possibility to use just 30 degrees instead of full range motion to determin the load data. This would be possible then. But I am not sure if you already can get it and from where you can get it

You know where you can get the patch notes for v1.16?

Actually I can get it, but I am not sure if it is already to release.
But it really got some improvments, not really new features but some which makes your life way better.

Quote from Sriniwas307

Hello Null Reference,

I tried to implement your suggestion of entering the tool data manually. The steps which i followed to do this are as follows:

Step 1: I entered the mass, center of mass and moment of inertia values of my configured and defined robot tool in the Kuka Sunrise Workbench manually.

Step 2: After Step1, I transferred the local project (project on my PC equipped with Kuka Sunrise Workbench) including the changes made to the tool data to the Kuka Robot Control Unit using the "Project Synchronization" icon.

After performing the above-mentioned steps, I tried to see whether the tool weight is compensated by the robot or not. And the result is the tool weight is not at all compensated when i tried to move the robot by pressing and holding the White button (located below the Green button) after i pressed the Green button.

Can you please let me know, if i did the right procedure as far as manually entering the tool data and the changes made to the tool data being visible in the Kuka SmartPad (Kuka LBR IIWA R14 820 robot's teach pendant) is concerned?

Thanking You,

BR,
Sriniwas

Display More

Hi.
Is the tool selected in the jog menu? Only the load data of the active jogging tool is taken into consideration when performing manual guidance so if for example flange is active then tool data will be all zeroes

Quote from Sriniwas307

After performing the above-mentioned steps, I tried to see whether the tool weight is compensated by the robot or not. And the result is the tool weight is not at all compensated when i tried to move the robot by pressing and holding the White button (located below the Green button) after i pressed the Green button.

- Manual mode T1: You must select the attached tool, before the robot consider it while jogging the robot , likle in the attched image.
- If you want to move the robot in the program, while a tool is attached you should do so in the program, like this very basic example (For more info, see the documentation):

package application;
 
import javax.inject.Inject;  
import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication;
import static com.kuka.roboticsAPI.motionModel.BasicMotions.*;   
import com.kuka.roboticsAPI.controllerModel.Controller;
import com.kuka.roboticsAPI.deviceModel.LBR;
import com.kuka.roboticsAPI.geometricModel.Tool;
 
public class ToolExample extends RoboticsAPIApplication {
	@Inject
	private Controller kukaController;
	private LBR robot; 
	private Tool myTool; 
	@Override
	public void initialize() {
		// initialize your application here
		kukaController = (Controller) getContext().getControllers().toArray()[0];
		robot = (LBR) kukaController.getDevices().toArray()[0];    
		myTool = getApplicationData().createFromTemplate("MyToolAsNamedInObjectTemplates"); 
		myTool.attachTo(robot.getFlange()); 
	}  
	@Override
	public void run() throws Exception   {  
		myTool.getFrame("TCP").move(ptp(getApplicationData().getFrame("/P1")).setJointVelocityRel(0.3).setJointAccelerationRel(0.3));  
	}  
}