Good morning everybody,
I am currently working with a KR 8 R2100-2 arc HW kuka robot. Its mastering was carried out by the robot integrator in the creation of the MIG-MAG welding cell. The robot is mounted on a rail (Axis E1) upside down.
The integrator mastered the robot with axes 2 and 3 in very different positions than indicated by the comparator's attachment points on the robot's axes.
My questions are:
1-Can this be done in kuka robot without compromising the good performance of the robot?
-Mastering posicion indicated by KUKA:
(all axes aligned with the comparator connection mark)
-Current mastering done by the integrator:
(A1=0º, A2=-90º, A3=+110º, A4=0º, A5=0º, A6=0º) (angle with respect to the measurement locations indicated on the robot arm for the comparator)
2-Can a mastering with deviations of more than 90º in relation to the positions marked by the kuka on the axes compromise the robot's ability to generate circles using instruction "CIRC ..."?