Calibration of track changed robot axes

    Hi all,

    I have KUKA with track. Floor mounted (not wall or ceiling). After track calibration, axes of robot changed. +Z moves robot not up, but to the side. Space visualization is very strange (like robot is wall mounted):

    Do I need to change these transforms to change robot position to floor? Is mount angle need to change only there? May be somewhere are other settings for mount angle? Does KUKA use data of mount angle (floor/wall/ceiling) for calculating dynamic motion parameters?

    Yes. These elements are used to describe to define the kinametic chain for KL and robot. The dynamic model needs no adaption. This is taken care of internally. Usually easiest way is to use WorkVisual to configure this by adding the KL to the project and drag and drop the robot onto the Flange of the KL. Then only the angle of the mount needs to be set. If intrested in the detailed frame relationships you could look at

    Post

    Re: 2 external axis+ceiling robot

    Hi,

    the transformation chain for any external kinematic is (see R1/$machine.dat)

    $ETn_TA1KR(Ex1) : $ET1_TA2A1(Ex2) : $ETn_TA2A1(Ex3) : ETn_TFLA3, n = 1,..., 6 (n = number of the external kinematic),

    where always the "z-axis" inside these coordinate systems is the axis of revolution/translation according to the axis type (linear/rotational, see $AXIS_TYPE).

    Which axes Ex1, Ex2, Ex3 are used inside which external kinematic is defined by $ETn_AX, n = 1,..., 6 (n = number of the external kinematic).…
    Fubini
    June 18, 2016 at 12:44 PM

    Fubini

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