Hi, I have a tolerance of almost 3 mm in the Robot when using the 4 axis wrist, the difference between the normal and inverted wrist.
Axis 4 180. / - 180 degrees.
Thank you very much, any help to see where the problem comes from is appreciated.
Hola tengo una tolerancia casi 3 mm en el Robot al utilizar la muñeca el eje 4 la diferencia entre con la muñeca normal e invertida.
Eje 4 180. / - 180 grados.
Muchas gracias, cualquier ayuda para ver dónde viene el problema se agradece.
what tolerance do you expect?
what is the exact robot model?
what is the application?
Have you tried checking it's mastering?
i would consider make it an ABS robot.... it means it need to be measured with tracker and PID file is to be generated. before that do all maintenance/mastering (counterbalance, belts etc.)
How complex is the robot motion? Because I've found in the past, that tool reorientation often creates large accuracy issues -- moving to the same point in space with a 90deg or 180deg orientation difference can easily create positional errors larger than 1mm. The robot simply isn't rigid enough, or mechanically accurate enough. Making the TCP hyper-accurate can help, as can making the payload as precise as possible. But the relative lack of rigidity in the robot arm, plus any flex in the end effector, will place a limit on how much accuracy can be achieved.
is this some sort of Spanish? robot has a friend?
are you trying to say that tou have friend with older robot than your but more accurate?
1. confirm that your controller is using correct machine data for the connected robot (compare robot label with info>help>robot)
2. confirm that robot has no backlash or deal with it (replace worn belts, make sure tension is correct etc.)
3. confirm that robot is mounted securely and firmly
4. confirm that robot is mastered correctly
It has no belts is gear with which the oil change was made 6 months ago ..
KUKA robots use belts in the wrist to drive A5 and A6. Were their tensions checked?
this robot has wrist extension. was it original or rebuilt? is the wrist correct? are bolts original? tensioned properly? any play? if no, how did you confirm? paint mark? they checked PID file? so this is the ABS robot? is the PID for same robot mounting?
Hello, this is the model and we buy it second-hand in principle it is original with his wrist but I do not know for sure.
The question is that first time we have this problem, the adjustment of belts can not be done since it comes with gear, this model is a precision robot, the verification of the pip file is correct seen by a Kuka technician, the file we saw the date is year 2010.
The files are the same as I had and the Kuka technician verified that it is the same pid of the file.
The problem may come from a bad configuration of the mada folder that does not correspond to this particular model of robots. 
yes. correct MADA is vital and this is why there is version for every robot configuration. some robots have more than one wrist option, choice of different wrist extension (for example 100mm, 200mm or whatever). adding extension increases reach but reduces accuracy and rated payload.
This arm was meant for KR210 which is 210kg rated robot.
But because of extension, actual rated load is reduced (L150) which is 150kg. so you get variants like
KR210
KR210-L180 (with 200mm wrist extension)
KR210-L150 (with 400mm wrist extension)
KR210-L150-2 (revision 2, same specs like KR210-L150 but something was replaced in manufacturing, maybe different seal, or gearbox brand or some shaft size etc.)
If you bought robot used, check if things are original and compare with documentation. Parts&Docs show exact wrist type (this should be stamped on the wrist itself) and the exact length of extension.
if MADA is a suspect, you can replace it with factory copy from D:.
chances are that maybe MADA and wrist are fine but mastering cartridge was replaced or moved.
On 2000 series robot had this adjustable.
hard disk clone is a great idea (but file is huge).
MADA for robot is just two files, each is few kB and can be replaced without reboot:
KRC:\R1\MADA\$ROBCOR.DAT
KRC:\R1\MADA\$MACHINE.DAT
you don't have to replace the files, you can just compare them with clean version on the D:\ (there is MADA for every robot).
instructions how to replace MADA have been share shared several times on this forum. basically:
1. login as Expert
2. deselect Submit
3. move those two files to a safe place (C:\TEMP for example)
4. find correct robot on D: (something like KRC_Release\Internat\MADA\...). several versions may exist (celing or wall or rail mount). find the right one
5. use those to replace files in KRC:\R1\MADA
5. start submit interpreter
