Hello,
I am running into a problem involving Kuka.CNC. Robot type is KR60 with a KRC4 controller and Kuka CNC V2.1.7 installed.
We have an endless external axis installed (this is a Kuka motor that is synchronized with the other axes). We use the robot in an operation type where we require the endless external axis to be automatically rezeroed occasionally between nc files (i.e. the axis does not move, but is reset to a displacement of 0.0).
We encounter a problem occasionally when doing the automatic rezero where our axis will displace with high speed. I have investigated this, and it appears to be due to the axis displacement value occasionally getting out of sync between the CNC HMI displayed value and the Kuka -> Display Actual Position value. The Kuka value will be 0.0 as expected, but the CNC value will oscillate in its display between 0.0 and whatever the value was prior to the reset. If we initiate a CNC move of the axis, sometimes the CNC will attempt to displace the axis given its apparent CNC position (i.e., if the axis was 120.0 before, when we go to move the axis in the CNC to 0.1, it will displace backward 119.9 degrees).
Has anyone encountered this issue or a way to solve it? I believe that one way would be to exit Kuka.CNC before restarting the next nc file in order to wipe memory of the previous external axis position and reinstantiate it at the proper 0.0 position. Are there any KRL functions that can do this? I was unable to find anything in the CNC documentation aside from manually going into the CNC-HMI and exiting.
Thank you!
Here is a sample of what we do. In our main KRL file:
In zero_e2() file: