Kuka robot moves in the wrong direction

Hallo, please help me.

My robot is Kuka KR210 R3100 Ultra KRC 4 V8.3.32

Software Sprutcam X Robot 17 ver.16

I try to run the program from the teach pendant, the Kuka robot moves in the wrong direction and on teach pendant screen stop move to next line code.

For example;

on tech pendant start and going move to line code :

PTP {A1 -25.866, A2 -105.437, A3 126.643, A4 -0.862, A5 15.556, A6 -4.715, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}

the robot moves in the correct direction (same as simulation on sprutcam software).

However, when the syntax is move to line code:

LIN {X 300, Y 300, Z 11, A -153.845, B 0, C 180} C_DIS

the teach pendant display shows it stopping (don't move to the next line code), but the robot continues to move in the wrong direction (A4 and A6 rotated).

I was set tool calibration and base calibration.

DEF KUKA()
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0)
$CIRC_TYPE = #PATH
BAS (#VEL_PTP,20)
BAS (#ACC_PTP,20)
$APO.CDIS = 0.5000

$BASE=BASE_DATA[3]
;$BASE={X 1350, Y 500, Z 841, A 0, B 0, C 0}
$ACT_BASE=3
$TOOL=TOOL_DATA[3]
;$TOOL={X 132.691, Y -16.083, Z 549.679, A -5.718, B 53.24, C 0}
$ACT_TOOL=3

$advance=5
$VEL.CP=0.167
PTP {A1 -25.866, A2 -105.437, A3 126.643, A4 -0.862, A5 15.556, A6 -4.715, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
LIN {X 300, Y 300, Z 11, A -153.845, B 0, C 180} C_DIS
$VEL.CP=0
LIN {X 300, Y 300, Z 1, A -153.845, B 0, C 180} C_DIS
LIN {X 300, Y 0, Z 1, A -162.853, B 0, C 180} C_DIS
LIN {X 300, Y 0, Z 11, A -162.853, B 0, C 180} C_DIS
$VEL.CP=0.167
PTP {A1 -20.000, A2 -120.000, A3 110.000, A4 0.000, A5 0.000, A6 0.000, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
END

Thanks for your Help.

Quote from panic mode

tool and base values in robot and simulation need to match.

Thanks for answer.

You mean measure of real table and tool must same with simulation?

Quote from Henry100

do you get also a message like (Command velocity exceeded A4)?

the picture of your simulation shows that you have a very close condition from singularity

there is no command velocity on teach pendant.

on teach pendant code line stop on: LIN {X 300, Y 300, Z 11, A -153.845, B 0, C 180} C_DIS (not move to next code line. But A1 move left like simulation and A4, A6 rotated.

Quote from panic mode

your program seem to use TOOL_DATA[3] and BASE_DATA[3]. are the values of those two the same in robot and in simulator?

axis position is absolute - it tells each joint where to go... it does not care about tool or base:

PTP {A1 -25.866, A2 -105.437, A3 126.643, A4 -0.862, A5 15.556, A6 -4.715, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}

but. when using Cartesian positions, robot has to do some calculations first since position of those points depends on tool and base data, as well as initial arm position. Robot can reach same point in different ways:

LIN {X 300, Y 300, Z 11, A -153.845, B 0, C 180} C_DIS

So to make this correct/unique, Status and Turn values must be correct. But if your tool and base do not match, it is possible that S&T are wrong too (specially Turn value)

LIN instruction does not care about programmed S&T values but PTP does. LIN simply calculates S&T on its own, based on initial position. but if tool and base do not match, not only the target point is going to be in wrong place but robot pose will change too.

since you are also likely dealing with alpha5 singularity, you may want to rotate robot about TCP a bit... if the tool direction is X axis, rotate about C by 20...30deg or so (does not matter if positive or negative). that would "knick" the robot wrist a bit and likely solve singularity problem.

Display More

little bit different with real and simulation value.

i will make same position and value tomorrow, and tell you update.

Thanks a loot.

Quote from SMK Negeri 2 Makassar

little bit different with real and simulation value.

i will make same position and value tomorrow, and tell you update.

Thanks a loot.

Hallo, i was match value simulation same as value from base and tool calibration from tech pendant load data.

but next problem is when line code read: $VEL.CP=0 robot stop and show warning Active commands inhibited.

How to fixed that?

DEF PAN5()
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0)
$CIRC_TYPE = #PATH
BAS (#VEL_PTP,20)
BAS (#ACC_PTP,20)
$APO.CDIS = 0.5000

$BASE=BASE_DATA[4]
;$BASE={X 1774.935, Y -49.359, Z 666.501, A 87.035, B 0.769, C -3.265}
$ACT_BASE=4
$TOOL=TOOL_DATA[4]
;$TOOL={X 53.132, Y -13.196, Z 521.629, A 0, B 0, C 0}
$ACT_TOOL=4

$advance=5
$VEL.CP=0.167
PTP {A1 -8.735, A2 -84.505, A3 107.559, A4 1.574, A5 63.912, A6 80.840, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
LIN {X 250, Y 0, Z 11, A -176.828, B 0, C 180} C_DIS
$VEL.CP=0
LIN {X 250, Y 0, Z 1, A -176.828, B 0, C 180} C_DIS
LIN {X 0, Y 0, Z 1, A 174.835, B 0, C 180} C_DIS
LIN {X 0, Y 250, Z 1, A 175.19, B 0, C 180} C_DIS
LIN {X 0, Y 250, Z 11, A 175.19, B 0, C 180} C_DIS
$VEL.CP=0.167
PTP {A1 -20.000, A2 -120.000, A3 110.000, A4 0.000, A5 0.000, A6 0.000, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
END

Quote from Henry100

"Active Commands Inhibited" is simply an informational message. It happens when someone hits the Step Forward button while the motors are not on.

But i can't push play/start button.

Quote from SMK Negeri 2 Makassar

But i can't push play/start button.

trying start in aut mode, warning is value assigment inadmissible.

Quote from SMK Negeri 2 Makassar

trying start in aut mode, warning is value assigment inadmissible.

Solved. just need change value become $VEL.CP=0.167

Thanks a loot all.

Hallo, Sorry.

It was folowing like simulation, but new problem is how to make laser head become vertical?

Thank's

Quote from panic mode

robot does what is told to...

an you tell root what to do by configuration and writing programs. programs are not just instructions but also data... in other words we have only seen instructions but not program data or tool/base values.

when configuring tool one need to enter several values:

TCP value
Tool orientation
Tool load

Have you done that?

I was input valu for TCP and Load, i have no idea to get value for Tool orentation.

how to get that?

Quote from panic mode

not familiar with GIGO? you continue asking questions while only sharing crumbs... why don't you tell us what the values you currently use are? why not state what is the tool direction axis?

here is one possibility:

jog robot until it is in a position where tool points straight down...

login as expert and use tool orientation measurements ABC World, select correct tool, choose 5D and teach.

I get value from jog robot until point straight down, but when i am input to software parameter the spindle become like picture.

Quote from panic mode

i don't quite know what you are doing...

why are you showing screenshot from simulation that uses wrong tool? why not use real robot and real tool to do real tool and base measurements, then enter the real measurement values back into simulator?

your screenshots show arc welding tool. and your other posts calls it a laser head and spindle... which is it?

what is the tool number? your program calls tool 3, but your screenshot shows load data for tool 4.

where are the values of your tool data?

what is desired tool direction? usually tool orientation is aligned with one of the axis like X or Z... and usually positive axis...

Display More

i have no model end efeector like head i use in real.

I use spindle and welding model head, but tool use laser beam cutter.

For tools i change with tool 4.

This value from calibration ABC world.

This position after program run.

DEF PAN()
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0)
$CIRC_TYPE = #PATH
BAS (#VEL_PTP,20)
BAS (#ACC_PTP,20)
$APO.CDIS = 0.5000

$BASE=BASE_DATA[4]
;$BASE={X 1774.935, Y -49.359, Z 666.501, A 0, B 0, C 0}
$ACT_BASE=4
$TOOL=TOOL_DATA[4]
;$TOOL={X 21.269, Y -9.652, Z 509.998, A -6.346, B -39.881, C 0}
$ACT_TOOL=4

$advance=5
$VEL.CP=0.167
PTP {A1 -11.175, A2 -98.894, A3 130.566, A4 1.688, A5 18.457, A6 171.413, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
LIN {X 0, Y 400, Z 11, A 10.342, B 0, C 180} C_DIS
LIN {X 0, Y 400, Z 10, A 10.342, B 0, C 180} C_DIS
$VEL.CP=0.167
LIN {X 0, Y 400, Z 0, A 10.342, B 0, C 180} C_DIS
LIN {X 400, Y 400, Z 0, A 8.325, B 0, C 180} C_DIS
LIN {X 400, Y 0, Z 0, A -2.133, B 0, C 180} C_DIS
LIN {X 0, Y 0, Z 0, A -2.426, B 0, C 180} C_DIS
LIN {X 0, Y 400, Z 0, A 10.342, B 0, C 180} C_DIS
LIN {X 0, Y 400, Z 10, A 10.342, B 0, C 180} C_DIS
$VEL.CP=0.167
LIN {X 0, Y 400, Z 11, A 10.342, B 0, C 180} C_DIS
PTP {A1 -20.000, A2 -120.000, A3 110.000, A4 0.000, A5 0.000, A6 0.000, E1 0, E2 0, E3 0, E4 0, E5 0, E6 0}
END