Hey everyone,
This is a robot for my workplace. I have been reaching out to several companies to see if they do field servicing on this robot with no luck. I have been in contact with Kuka to get a service call. It has been nothing but phone tag. I am in no way a robot expert, I operate Nachi robots to use for life cycling and stiffness pushes on test samples. I was suggested to hit the forums, here is my problem:
Robot info:
Kuka
Type- KR 150.2
Date- 2001
This robot is new to our location. My company has these robots in a different location and what we use them for is Ingress/Egress testing for seats.
Problem:
I am able to master all 6 axis' with the pin system. (where i thread the pin into the axis thread and start the mastering process on the pendant clearing each one) Then I would get the robot into its "home" position to zero a load cell that is attached and clearing out offsets. I then go to Occubot VI and select my tool and base. After this I need create a base position for a Ingress/Egress position. (start position for its cycle). This is where I would put the robot into Tool mode to move the robots tool (a butt form) to the seat. But the robot does not move properly or correctly. The face of the robot moves when it should not. I operate Nachi robots in tool mode often for stiffness testing so I have a general knowledge of how it should be moving, but this kuka is moving wrong.
What I would assume the problem is that the robot does not know its coordinates or some setting it set weird to make the functions act differently. The robot seems to move fine in joint mode. There are 2 other modes of movement that I have not used; one with a mouse on it and a world icon, I assume global something.
This is probably a long shot for help since it is an older robot. The people I have talked to do not know much about Kuka. I get the feeling that Fanuc robots are the more popular brand in the states, or at least who I contacted.
Thank you for time,
A testing technician.