Robot: KUKA KR 200 L140-2
Controller: KRC2 (ED05)
Servo motor: KK55Y-YYYY-030
Servo drive: KSD32A
I have a robot setup consisting of a stationary KUKA robot equipped with a 3D printer end effector. Normally we print on a fixed table, but we also want to be able to print on an external rotation axis. We made our own positioner with a single KUKA servo motor and the corresponding servo drive is mounted in the controller.
A problem we encountered is the communication between the robot and the positioner. The robot must work simultaneously with the positioner, which means the TCP speed must be adjusted to the speed of the positioner. Is there already a variable that considers both the speed of the TCP in conjunction with the speed of the positioner, or does a custom variable have to be created?