Does anyone know the whereabouts of information or KUKA documentation regarding Absolute Accuracy?
This is what I know so far:- I found an old document for KRC2 called Configuration - High Precision Robot which describes the installation of the necessary service pack, copying the relevant robot specific PID file and setting $ABS_ACCUR = TRUE. This is clearly only relevant for KRC2 SW versions and in addition I found in an old KSS system variables document where there are three relevant BOOL variables:-
$ABS_ACCUR - Switch absolutely accurate robot model on/off
$ABS_CONVERT - Conversion of point coordinates into absolutely accurate robot model
$ABS_RELOAD - Reload absolutely accurate robot model
In addition I believe that the E6POS and POS structures contain the INT S(Status) and T(Turn), and there is at least 1 bit (perhaps bit 4?) in the S field that contains information whether the point coordinates were taught with or without using the AA model.
However it would appear that the functionality of Absolute Accuracy may have changed with KRC4, as I found the variables described above have changed in KSS 8.1:-
The variable $ABS_ACCUR - Indicates whether the positionally accurate robot model is active.
But changes from type: BOOL to type: ENUM having values:-
#ACTIVATED: Positionally accurate robot model active
#SUPPRESSED: Positionally accurate robot model currently suppressed (by $SUPPRESS_ABS_ACCUR)
#NONE: No positionally accurate robot model available
$ABS_CONVERT - seems to be missing with KSS 8.1
$ABS_RELOAD - Reloading of the positionally accurate robot model
$ABS_UPDATE - Updating of the positionally accurate robot model by means of a SOAP-HTTP protocol
$SUPPRESS_ABS_ACCUR - Suppression of the positionally accurate robot model
So this is a far as I got. I remember vaguely once (20 years ago?) using the $ABS_CONVERT variable to convert point coordinates in a program taught without the AA model being active. I had to run the program having correct LOAD DATA with the $ABS_CONVERT set to TRUE and then the coordinates for each point was updated with new AA coordinates and S(Status) bit 4 for the same point was written to TRUE. At the end of the program $ABS_CONVERT was reset to FALSE. So then when the program was run, the positions the robot executed with the AA model active were then identical to those executed with the AA model inactive - albeit with slightly different point coordinates for every move. However as long as the AA model was active, if the program was then subsequently run with different loads and corresponding Load Data, each position would be executed correctly with enhanced accuracy.
So my question is how does one perform point conversion in KSS 8.x? Is it that S bit 4 is no longer used? Do I have to use $SUPPRESS_ABS_ACCUR somehow to achieve the conversion?
A colleague who generates offline programs in KRL tells me that S bit 4 is never used, either in KSS 5.x or KSS 8.x so we wonder how offline generated programs can ever be Absolute Accurate?
So you see my confusion of trying to figure out how Absolute Accuracy is supposed to work across older and newer platforms without any solid documentation. Can anyone help?