Good afternoon, I have a robot kuka vkr200 / 2 with vkrc1 I want to install a turntable. If someone has encountered this or knows how to do it, can you please tell me how I can do it? What do I need to buy?
Additional axis vkrc1
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Fedor poleschuk -
May 28, 2021 at 3:30 PM -
Thread is Unresolved
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For a KRC1? Not easy. Would this turntable need to be an actual robot axis (to do something like simultaneous 4-axis CNC milling?), or simply a positioner?
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For a KRC1? Not easy. Would this turntable need to be an actual robot axis (to do something like simultaneous 4-axis CNC milling?), or simply a positioner?
Yes, it is desirable of course that the turntable be a real axis of the robot, but if it is much easier to make a positioner, then this option can also be considered
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So, adding it as a robot axis would require a KUKA servo (easy to obtain) and probably a new PM600 module inside the KRC1 (harder to obtain these days). Plus all the additional cabling. I never had to add an external axis to a KRC1, so there's probably some details I'm missing. KRC2s made it much easier. You would probably be best off finding a good dealer in refurbished KRCs who knows what they're doing and have them quote a complete upgrade kit.
A simple positioner could be done much easier, without needing any KUKA-specific hardware. A large stepper motor, or maybe a "smart" servo, connected to the KRC over an I/O connection. This would not be able to synchronize robot motion with the turntable motion, but would let the robot control the turntable as a discrete "indexing" positioner.
What to buy would depend on your requirements -- weight, current, torque, etc. It would also depend on what I/O options your KRC has. Every KRC1 came with DeviceNet by default, so that would be the easiest to use, but you would need to ensure whatever motor or motor controller you bought could interface to DeviceNet. Or, at a more basic level, the motor could accept simple button/relay commands, and you could simply add a DeviceNet I/O block to the KRC that would emulate those buttons/relays.
You'll also need some sort of feedback so that the robot knows what position the turntable is at.
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Good afternoon, I found this diagram for connecting additional axes. Do I understand correctly that with such a connection (but together with pm 6-600), all cables from pm6 are transferred to pm0, or they remain and are duplicated to pm0