Our system is KRC4 8.5.7 HF1 and KR 90 R3100 extra HA. There are also two KP1-H5000-HW positioners in master-slave configuration connected to the robot.
One of the applications will be that a tube will be placed between the two KP1 manipulators. The manipulators will then continuously rotate the tube while the robot is welding
on the tubel. The tube will have to make a few hundred of rotations (at a constant speed) during one procesrun.
I will have to make the axis endless, so it does not stop at the software limits. But I see that the position (angle) is incrementing continuously and does not flipover from 359 -> 0° as would be with a modulo axis.
Is there a possibility to make it a 'modulo axis' : each time it would reach 360° it goes back to 0°?
If I cannot make it a modulo axis, I will have to account for the actual position (f.i. 720000°) if I want to position the manipulator to a certain degree.
As absolute position for me only 0-360° is important.
If when rotating continuously in the same direction, at some moment the actual position will 'overflow', this could cause a problem if the overflow value is not taken into account in the positioning commands.
So is it possible to led an endless external axis 'flipover to 0° when 360° should be reached'?
If not possible, how is normally dealt then with an endless external axis that Always rotates in one direction? I do not want the rotate the axis in the negative direction, only to bring the actual position
back to 0°.
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