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External axis calibration setup error

  • crk
  • January 23, 2021 at 7:03 PM
  • Thread is Unresolved
  • crk
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    • January 23, 2021 at 7:03 PM
    • #1

    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

  • DannyDJ
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    • January 23, 2021 at 7:46 PM
    • #2

    Hello, check this parameter in machine.dat

    DECL EX_KIN $EX_KIN={ET1 #EASYS,...

    do you have there #NONE?

    and also check this DECL ET_AX $ET1_AX={TR_A1 #E1,TR_A2 #E2,TR_A3 #NONE}

  • crk
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    • January 24, 2021 at 3:58 PM
    • #3

    Yes, that solved! I was missing this part. Thank you

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Thread Tag Cloud

  • abb
  • Backup
  • calibration
  • Communication
  • CRX
  • DCS
  • dx100
  • dx200
  • error
  • Ethernet
  • Ethernet IP
  • external axis
  • Fanuc
  • help
  • hmi
  • I/O
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  • IRVIsion
  • karel
  • kawasaki
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  • Programming
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  • RSI
  • safety
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  • TCP/IP
  • teach pendant
  • vision
  • Welding
  • workvisual
  • yaskawa
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