External axis calibration setup error

  • Hello everyone,

    I'm trying to calibrate the DKP400 turn-tilt table external axis as external kinematics of my KR30 HA robot,

    as the operating manual says, it should be simple,
    touching a point (in my case X 210mm far from the DKP400 flange center) four times in different approaches.

    So the point $ET1_TPINFL is declared, as external axes manual says, like this in machine.dat :

    FRAME $ET1_TA1KR={X 0.0,Y 0.0,Z 510.0,A 0.0,B 0.0,C 90.0}

    FRAME $ET1_TA2A1={X 0.0,Y 340.0,Z 0.0,A 0.0,B 0.0,C -90.0}

    FRAME $ET1_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}

    FRAME $ET1_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}

    FRAME $ET1_TPINFL={X 210.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}

    But when i select

    Setup > Measure > External kinematics > Root point,

    after choosing system no 1, giving it a name, and choosing continue,

    the KSS 5.6.8 (running on KRC2) gives this error :

    "It is not possible to measure the external kinematic 1 of type #NONE"

    Has anyone faced the same issue? Is there a way to proceed with the calibration?

    The Tool is selected and Base is too (0, 0, 0, 0, 0, 0,)

    Thank you

Create an account or sign in to comment

You need to be a member in order to leave a comment

Create an account
Sign up for a new account in our community. It's easy!
Register a new account
Sign in
Already have an account? Sign in here.
Sign in Now