Good afternoon! Tell me, please, after the initial commissioning of the KUKA KR 240 R3200PA. In T1 mode, only 4 axes out of 5 are active. Why is one axis not active?
KUKA KR 240 R3200PA one axis not active
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Ryno -
August 29, 2024 at 9:25 AM -
Thread is Unresolved
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Thats how Palettization robot works.
A1, A2, A3 and A6 are active and A5 is grayed out.
The Axis A5 moves in synchronization with Axis A2, A3 movements s.t. the flange is parallel to the ground/base plane.
The only time A5 gets active is when axis loses its synchronization and we need to bring the axis back to synchronization in T1 by moving the Axis A5 s.t. the axis back in synchronization.
This is identified by seeing the axis A5 getting grayed out.
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Thats how Palettization robot works.
A1, A2, A3 and A6 are active and A5 is grayed out.
The Axis A5 moves in synchronization with Axis A2, A3 movements s.t. the flange is parallel to the ground/base plane.
The only time A5 gets active is when axis loses its synchronization and we need to bring the axis back to synchronization in T1 by moving the Axis A5 s.t. the axis back in synchronization.
This is identified by seeing the axis A5 getting grayed out.
Indeed, the A4 axis and A5 axis are not highlighted. So you need to move the A2 and A3 axes at once so that the A4 axis moves?
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A4 can not move (actually it is not even an axis for a 5 axis palettizer). You have only 5 axes. A1,A2,A3,A5,A6. The axes are indexed the same way as for a standard 6 axes kuka robot. A5 can only move axis specific if $PAL_MODE is not active. If $PAL_MODE is on A5 is calculated automatically from A2 and A3 position (A5 = 90° - A2 - A3 if I remember correctly) such that the flange stays parallel to the robroot x,y plane . It does not matter whether you move A2 or A3 or both simultaneously A5 is always controlled fitting to this condition.
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