KRC4 - KR210 R3100 - KS V8.3.422
I've calibrated a dummy tool that I use as a reference for the end mills on my spindle.
Great care was taken in the XYZ-4 directions procedure, and I got a not-so-bad uncertainty of 0.45mm
To check my point, I rotate it around the tool's axii.
First, I place the tool "X" axis vertical and move the TCP to a fixed reference point.
When I rotate "A" which corresponds to the "Z" axis of my TCP, it inclines the spinde on its sides.
I notice that the pointy end of my dummy tool moves along the initial "Z" axis of the tool.
This doesn't make any sense to me because that's the only direction it shouldn't move !
I also noticed that when I check for ABC with my dial gauge, I don't get the same runout depending on where in the robot's workspace I do the measure :
when I'm at A1 = 0 and close to the ground, I get a 0.3mm runout, and with A1 at -90 and at 1m above ground, I get over slightly over 1mm !
This is driving me nuts as I really want to get a proper placement for my spindle axis (A, B, and C) since, from there I could derive all my tool (X, Y, Z) just using a CAD model...
Could this be caused by a slightly unprecise mastering of the robot ?