Hello Forum,
i tried a lot - but i am not able to get a custom DKP integrated into the KRC...
The System is:
KR C4
KR10R1420
KSS: 8.5.8 HF1
The setup is as follows:
The Robot is on a custom Linear Track with KUKA Motors. I got this part correct as i think.
Then there is a custom made DKP with KUKA Motors too. The Hardware of the DKP is running and i am able to move both axis. What
i cannot get running is the mathematical coupling of the DKP.
Of course, i read the manuals and searched but it doesn't work. I am definitely doing something wrong - but i don't know what..
This is the first time for me that i am using a not KUKA Positioner.
What did i do?
1. made a custom 2 axis Positioner - check
2. make sure that both axis are running - check
3. i placed the root point of the DKP on the floor and set the values for the shift from floor to axis 1 and axis 2 etc.
4. set in the "cell config" that robot has to follow the DKP
5. teached the Base in the center of the DKP
6. tried to run the root point calibration of the DKP... This part is not working. When i only turn Axis 2 (turn) i can calibrate and the robot correctly follows the turntable but the tilt is not working correctly. When i turn and tilt during calibration i cannot calibrate due to big deviations (200mm+)..
I hope that someone here can give me a hint.
Thank You
edith: as is can only upload one attachment, i uploaded the layout. All other Images are on a google drive folder. I attached the drawing of the DKP, the Machine Data Configuration, Cell Configuration...