New Kuka positioner does not reset to "nearest zero" after long infinite run? KRC4 KSS. 8.6

    Hi.

    Anyone have good example of code for DKP-400 ( or any external motor) for infinite run handling. After rotationg the positioner in program 200 rounds and then reset the program it always wants to go 200 rounds back to original zero. I am looking for a code which makes this actual position zero again so we dont need to run back 200rounds... I mean same as "mastering zero here now" in program. It is fine also if it rotates only max +/- 180degree to nearest zero but not all 200rounds back.

    Post

    RE: Automatic Master / Virtual External Axis (Duplicate) / Change directly Mastering Values

    please read pinned topic READ FIRST and add some details...

    mention KSS and SerGun option versions, why and when the parameter change is needed etc.

    i have seen cells where robot had tool changer and more than one servogun - completely different ( different brand, type, scaling...). it does not matter which gun was picked up at the time, it would still be the same axis but different settings would be used so different setup is clearly possible.

    zero position can be changed by coupling procedure…
    panic mode
    April 13, 2021 at 5:03 PM

    Only possibilty I know using async axes, see the posts about 6 items down the list of unresolved threads Endless motion for KUKA external axes.

    Otherwise only remastering the axis works. In newer version it was discussed at KUKA about 2 years to offer programmatical reset but I do not know if this was or will be released at all. Hence it might also depend on your KSS version witch you do not provide unfortunatly. wait its in the title. Sorry. did not see it at first.

    I do not understand why it moves back to zero 200 rounds. Endless axes only position modulo 360 degrees so what are you doing exactly? Relative spline maybe?

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