hi ,
I have kuka krc2 kr210 L150-2 k 2000 robot with kuka kl-1500_3 linear track.
I have milling application running on my robot.
The problem is it was giving dimension errors(10 to 12 mm plus then actual cad data)after machining and more then 3 mm steps were coming while moving from one program to another program.
for solution I followed below procedure:
did mastering
checked the mastering and error for each axis it was too low.
started doing tcp for the robot as I have to take 3 readings for short spike and long spike each to update in power mill software to generate tool data based on these readings.
i did the tcp and then did abc world. i got error = 0.23
while moving the tcp in abc world it is deviating more then 6 mm in all AB & C.(rotation angle not more then 20 to 30 degrees)
did tcp several times but same result error is low, but tcp is not staying still at pointer tip.(followed technique suggested by Mr. Werner Hempel in his you tube video of tcp explained but no luck same result)
checked machine data. it is fine.
track travel distance also checked. it is physically moving correct same distance given form the program but tech pendant reading is not matching with physical movement.
it is giving 2.33 mm difference from linear track movement.(axis data and cartesian data not matching)
one more thing I noticed that while robot is on (0,-90,90,0,0,0 E1 0) position while tool and base is null frame in cartesian Data Y should be 0 right.
but here while tool and base is null Y=2.22 showing. is it right.
please help me out in this what can I do to minimize this error at least near to 1 to 1.5mm.
attaching the images for all and machine data also.