Hello roboticists!
Maybe someone here will be able to help us and solve problem in our company.
We want to make a 360 degree rotation only with the E1 axis, the robot is supposed to stand still and weld at a certain speed in the motion parameters.
We added an external axis to the 2000 series robot: gearbox, motor and Kuka inverter and did all the initial startup of the external axis through the external axis configurator.
The motor/gearbox ratios and 360-degree rotation in both directions agree with the actual rotation, I made the transformations according to the External Axis manual for soft 5.5 and 5.6.
Tool (No. 9) "newtool" measured, the error was about 1mm, I also did a base 20 and measured the external kinematics with a saucer by driving up a designated point on the swivel and then driving the TCP to that point, the error was about 1.2mm.
The problem is that the robot's TCP tracks the point on the secondary axis as on the DKP400 positioner.
I tried setting the asynchronous secondary axis after by changing $ex_ax_async=1 and in $ASYNC_OPT in STEU\MADA\$OPTION =TRUE without success, TCP continues to track E1.
We use the program ''aaaNOWYtest" using the measured tool[9] and base[20].
KRC2 od05
RobName=KR 200
Version=V5.5.16
ArcTechDigital=V2.3.3
ProfiNetIO=V2.3.3
TechConfigPlugIn=V1.0.2
TouchSense=V1.3.3