I compared the standard $ machine.dat file with the file from my robot, and I have a few differences, some of them less important, but some of the differences caught my attention:
Code
Data from the robot :
$RAT_MOT_AX[7]={N 34598900,D 1000000}
Standard data :
$RAT_MOT_AX[7]={N -35526926,D 1000000}
Here, in the standard data, the value changes to - it means the direction of the motor rotation, as I remember correctly, and the value changes slightly, where with such a large TCP displacement when the E1 axis itself moves in the Cartesian system, it should not change too much after setting the standard data.
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Code
Data from the robot :
$VEL_AXIS_MA[7]=4000.0
Standard data :
$VEL_AXIS_MA[7]=3750.0
The variable nominal engine speed from the plate shows that it is 3750, if you are wrong correct me.
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Code
Data from the robot :
$RED_ACC_EMX[7]=150
Standard data :
$RED_ACC_EMX[7]=210
If I understood correctly, the variable is responsible for braking when pressing the emergency switch.
Code
Data from the robot:
INT $SIMULATED_AXIS='B0000'
INT $ACTIVE_AXIS_MASK='B00111111'
INT $ACTIVE_KAR_MASK='B00111111'
Standard data :
INT $SIMULATED_AXIS='B0000'
INT $ACTIVE_AXIS_MASK='B111111'
INT $ACTIVE_KAR_MASK='B111111'
This discrepancy worries me a bit, please let me know if this data may have any impact.
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Code
Data from the robot :
$INC_AXIS[1]=1.0
$INC_AXIS[2]=1.0
$INC_AXIS[3]=1.0
$INC_AXIS[4]=1.0
$INC_AXIS[5]=1.0
$INC_AXIS[6]=1.0
$INC_EXTAX[1]=1.0
Standard data :
$INC_AXIS[1]=0.005
$INC_AXIS[2]=0.0005
$INC_AXIS[3]=0.0005
$INC_AXIS[4]=0.002
$INC_AXIS[5]=0.002
$INC_AXIS[6]=0.002
$INC_EXTAX[1]=0.0006
Will this variable have any effect on the correct movement of the robot?
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Code
Data from the robot :
$INC_CAR[1]=1.0
$INC_CAR[2]=1.0
$INC_CAR[3]=1.0
$INC_CAR[4]=1.0
$INC_CAR[5]=1.0
$INC_CAR[6]=1.0
Data standard :
$INC_CAR[1]=50.0
$INC_CAR[2]=50.0
$INC_CAR[3]=50.0
$INC_CAR[4]=50.0
$INC_CAR[5]=50.0
$INC_CAR[6]=50.0
Will this have any impact on the correct operation of the robot?
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Code
Data from the robot :
DECL REAL $SR_TIME_N=0.100000001 ;REAKTIONSZEIT NOTAUS
REAL $AXIS_JERK[12] ; ERLAUBTER ACHSRUCK [DEG/S^3] / [M/S^3]
$AXIS_JERK[1]=8018.0625
$AXIS_JERK[2]=7085.02002
$AXIS_JERK[3]=7508.86475
$AXIS_JERK[4]=18319.3809
$AXIS_JERK[5]=17378.6543
$AXIS_JERK[6]=25798.0957
$AXIS_JERK[7]=1.00000002E+20
$AXIS_JERK[8]=1.00000002E+20
$AXIS_JERK[9]=1.00000002E+20
$AXIS_JERK[10]=1.00000002E+20
$AXIS_JERK[11]=1.00000002E+20
$AXIS_JERK[12]=1.00000002E+20
Standard data :
DECL REAL $SR_TIME_N=0.1 ;REAKTIONSZEIT NOTAUS
REAL $AXIS_JERK[12]; ERLAUBTER ACHSRUCK [DEG/S^3] / [M/S^3]
$AXIS_JERK[1]=8018.0623
$AXIS_JERK[2]=7085.0202
$AXIS_JERK[3]=7508.8646
$AXIS_JERK[4]=18319.3801
$AXIS_JERK[5]=17378.6551
$AXIS_JERK[6]=25798.0949
$AXIS_JERK[7]=1.0E+20
$AXIS_JERK[8]=1.0E+20
$AXIS_JERK[9]=1.0E+20
$AXIS_JERK[10]=1.0E+20
$AXIS_JERK[11]=1.0E+20
$AXIS_JERK[12]=1.0E+20
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Over time, I think the robot has machine data from the KL1500 axle working on the floor. The data that I changed earlier is: