Our system is KRC4 8.5.7 HF1 and KR 90 R3100 extra HA, the robot is mounted on a custom track driven by Kuka MG12 110 25 S0 (MG 120 KSP40). I want to tune the external axis that drives the robottrack.
I have read the manual about external kinematic systems for KSS8.5. But after reading chapter 7.4 Optimizing machine data with oscilloscope, I still don't know where I can adapt the parameters for proportional and integral gain of the speed controller, and the proportional gain of the position controller. On this forum I saw parameters like : ($G_VEL_PTP, $G_VEL_CP, $I_VEL_PTP, $I_VEL_CP), but I
can't find these parameters in my controller.
Tune external axis
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Plc_User -
November 25, 2019 at 10:29 PM -
Thread is Unresolved
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because those are for KRC2 and you are using KRC4.
in case of KRC4 file structures have changed and many things are moved to XML files.
for example gains you are looking for should be in
C:\KRC\ROBOTER\Config\User\Common\Mada\NGAxis
something like
Code
Display More<Parameter Name="PosGain" Index="0" MinValue="0" MaxValue="0" EvalBoundary="Min" Access="rw"> <Set Name="PTP" Value="128.06" /> <Set Name="CP" Value="128.06" /> </Parameter> <Parameter Name="PosIntTime" Index="1" MinValue="0" MaxValue="0" EvalBoundary="Min" Access="rw"> <Set Name="PTP" Value="0" /> <Set Name="CP" Value="0" /> </Parameter> <Parameter Name="VelGain" Index="2" MinValue="0" MaxValue="0" EvalBoundary="Min" Access="rw"> <Set Name="PTP" Value="0.0048859" /> <Set Name="CP" Value="0.0048859" /> </Parameter> <Parameter Name="VelIntTime" Index="3" MinValue="0" MaxValue="0" EvalBoundary="Min" Access="rw"> <Set Name="PTP" Value="0.052403" /> <Set Name="CP" Value="0.052403" /> </Parameter>
if you choose correct catalog when building WoV project, you can see all of those in the WoV.
but if you choose any Kuka kinematics like MGU etc. most of the parameters are hidden.
Also some of the catalog elements have default parameters way out of whack so axis oscillates before you can even start tuning. i recall cases where gains had to be changed by orders of magnitude just to stop excessive current and hunting. nor sure why they did not verify them or use conservative values, must be a typo or result of copy/paste...
also i agree that optimization mentioned in manual is far too vague and more or less unusable. KUKA System Partners have benefit of some nuggets of info and code that average users don't get to see. So it pays to get KUKA training and workshops.