Changing bases with a turn table

    Hi All,

    Robot: KR 120 R2700 extra HA

    KSS: V8.3.29

    Turntable: KP1-V500-1000

    I'm working with a robot setup with a turn table and I have to switch tools during the KRL, I initialise using base 1, which is set to 0,0,0,0,0,0 which is on the top centre of the turntable.

    The integrator setup the tool change for different sawblades on the spindle, my code works well until I load the subroutine, where it successfully picks the new blade using BASE 2, once the subroutine is completed in my parent KRL I have used several KRL codes (see below) to switch back to BASE 1.

    Seems to be one of two things happen, either it doesn't accept the command and the active base remains set to BASE 2 or BASE 1 is selected, and shown on the smart pad, but it loses the turn table and is using the robot root coordinate system?

    Code attempted immediately after leaving the subroutine was:

    Code
    BAS (#BASE, 1)
$BASE = BASE_DATA[1]
FDAT_ACT = {TOOL_NO 2,BASE_NO 1,IPO_FRAME #BASE}

    None worked in the way I expected. Reset the program, and base 1 is once again with the turntable?

    And if you want to not loose geometric coupling to the external kinematic read about the EK command. When asxigning the base like you its not associated with the table.

    Post

    KRC2 EK/Offset base functions

    Hello,

    Below is my original Query, I think I have narrowed down the problem to not having set the offset of my external kinematic system properly, or called it in the code. When I measure the offset, do I give it a different number and name from the kinematic root? Do I simply call the base data this relates to (eg. $BASE=BASE_DATA[x]) or do I need to be using $BASE=EK(...)?

    Another issue I can't understand, is when I measure the kinematic offset as the center of the turntable, I get very small…
    sam-hhi
    June 7, 2022 at 9:05 PM
    Post

    RE: TCP speed in conjunction with positioner speed

    Read about EK-Command and EX_BASE in this forum. It allows you to activate geomtric coupling between external kinematic and robot, see e.g.

    robot-forum.com/robotforum/thread/?postID=181344#post181344 You need at least a base measured in on the external kinematic and where the external kinematic root is in relation robot base. Also your external drive needs to be configured as an external kinematic in R1/ $machine.dat, see e.g.

    robot-forum.com/robotforum/thread/?postID=84216#post84216

    Fubini
    Fubini
    March 14, 2022 at 11:04 AM

    Fubini

    I missed that fubini's post, but having gone through them replacing the BAS (#BASE, 1) with $BASE=EK(MACHINE_DEF[2].ROOT,MACHINE_DEF[2].MECH_TYPE,BASE_DATA[1]:{x 0,y 0,z 0,a 0,b 0,c 0})

    Seems to have done the trick.. thanks again Robot-Forum!

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