Hello misters,
I have Kuka KR150 3100 Prime with KRC 4, I tought offset with EMD Justage set for tools with different weights of workpieces , there is difference about 40 kg. Finally I made test with using the same position but with different tool in the robot program . I am putting the workpiece in the hole, and I have Force torque sensor at the robot so I can check the force. I choose one workpiece a then I made test with using different tool in robot program but force was the same for both tools. So robot did not compensate the position of the robot. But when I put heavier workpiece on robot hand (same tool in robot program) , I see differences when I am checking forces while robot is inserting piece inside. Has somebedy used EMD Justage set and can advice me?
Thanks in advance.