automatically using external axis (linear)

    Hi!

    I have another short question.

    I'm using a 2nd-hand KUKA with KR C2 cabinet and the robot is mounted on an external linear axis.

    Is it possible to actively enlarge KUKA "oh i move to my destination point automatically"-workspace?

    What does that mean?

    Assumed the robot (without external axis) can reach every point within a sphere (technically a "donut") about 2 m around it's center.

    If one is saying "move to 1,1,1,2,2,2", the robot automatically use his 6 axes and move to this point.

    If one would say "move to 4,2.5,1,2,2,2", the robot would say "x is out of scope"

    Now with external linear axis in Y, the possible workspace is enlarged to a "bean".

    Is it possible to say "move to 1,7,1,2,2,2" so the robot will automatically using external axis to reach that point.

    So far i always have to drag external axis by hand with E6Pos. I would like to get the KUKA using it automatically.

    possible?

    regards

    • Best Answer

    Yes with external offset feature but only in 8.5 and newer software releases.

    Post

    Re: Interpolation of robot mounted on external axis

    Hi,

    with the current KSS XYZABC and external axis path planning are partially independent. The external axis moves only time synched from its programmed initial positions to the target position. With the upcoming release bundle KSSV8.5/WorkVisual 5.0 there will be the new feature called External Offsets.

    If you know ABB there is also a feature called External Offsets (EOffsSet) but as far as I know this only allows statically shifting an additional axis its zero reference point. In KUKAs solution…
    Fubini
    January 2, 2018 at 12:11 PM

    Fubini

Advertising from our partners