Hello,
i use the kuka ready2_educate cell (KR4 Agilus). I have a holding device mounted to the flange in which i can plug in different milling tools.
To get a precise calibration of the tcp (with the xyz 4 point method) i use a reference needle instead of the milling tool itself, and by knowing the length difference between the needle and the milling tool i can calculate the tcp of my milling tool.
The problem is, that the holding device is rotated in a 30 degree angle (around the y-axis) relative to the flange coordinate system. Therefore i can't simply substract the length difference on the z-coordinate, i have to do some trygonometry to get the xyz-coordinates of my milling tool.
Since i have many different milling tools to teach, i would like to avoid doing the math each time.
My idea is to change the orientation of the flange coordinate system so that it aligns parallel to my holding device and then i could simply substract the length difference on the z-offset.
Is there a way to change the flange coordinate system (maybe in kuka Workvisual) ? Or does this lead to a problem that i am not aware of ?
Or is it possible to teach a tcp relative to a custom coordinate system (which itself is relative to the flange cs) rather then directly to the flange coordinate system ?