Hello KUKA masters, I need your assistance!
I have posted about this before but since I have resolved some of the issues in my previous post but not this particular one I figured I should post this in a new thread to focus the attention on the problem I am currently trying to overcome. Apologies if this causes any redundant conversation between threads.
Having issues getting my 7th axis/rotary table working correctly with RoboDK. Wondering if anyone has any insight on this.
The main issue I am having is that when I post code using the KUKA KRC2 CAMROB post I have no problems running 6 axis code. The robot does exactly what the simulation shows. When I run 7 axis code (with a rotary turntable) instead of doing exactly as the simulation shows the robot rotates the spindle in sync with the turntable toward the robot which would eventually cause a collision. I believe since the robot head rotates perfectly in sync with the turntable that RoboDK is posting code with the rotary table and robot kinematically linked. This makes sense as I understand that kuka robots require any external axis to be kinematically linked in order to run simultaneously with the other 6 axis of a robot I do have them linked in RoboDK. Correct code should rotate the 7th axis while the robot rotates in the opposite direction (in relation to the linked kinematic system) so that in reality the robot stays in a relatively stationary orientation while the rotary table does all the rotating motion. Unfortunately something is not correct with the posted code in relation to the machine parameters and/or the CAMROB parameters on my KRC2 controller . I have the kinematic link set up correctly on my controller as I can rotate the table when I have base 17 called up and the robot moves perfectly oriented to the table as a kinematically linked base should.
In addition to the above issue I have a few other related things I want to address.
1. I have been able to get base 17 to stay active when I run a program by editing the .src file to include "BaseDataNum = 17, $BASE=BASE_DATA[17] , $ACT_EX_AX= 17 and $ACT_BASE = 17. Even when base 17 stays active the robot still rotates into itself instead of staying in one orientation while the rotary table does most of the moving. This leads me to believe the EK(external kinematic) codes are not being called. I have read that if you call up an external kinematically linked base # (IE my base 17) that the EK codes are implied. I have also read posts that claim the opposite is true. Guess I need someone more knowledgeable on this to tell me what is correct.
2. If I add $BASE=EK(MACHINE_DEF[2].ROOT,MACHINE_DEF[2].MECH_TYPE,BASE_DATA[17]:{FRAME: X 0.000,Y 0.000,Z 140.000,A 0.000,B 0.000,C 0.000}) the kinematic link is activated but the machine gives me a "work envelope exceeded" error. I can verify the kinematic link is activated by jogging the rotary base after this code is called. When I jog the machine with this code called the robot stays in orientation with the rotary base. When I jog the rotary without this code the robot does not stay in orientation with the rotary base. It actually overrides the kinematic link until I manually call up base 17 again in the configure, set tool/base menu.
3. When I call up tool 2 with CAMROB inline forms the tool # defaults to tool 1 regardless of the tool # I have called once the .CSV file starts to run.
I have attached some sample code. A .src file that I have altered with the $base=EK command, base 17 codes, and tool definition. Also added "CR_iUSER_PARAMS_VERSION = 2" to call up the newer version camrob parameter file. The .CSV file that goes along with this is also attached. The only edits I have done to the .CSV is to assign the spindle speed in column 10 and the spindle direction in column 11.
Could also share my camrob parameter files if anyone wants to look at them. They should give some insight into what formatting my robot expects the code to use.
I have contacted RoboDK about this but they are not being particularly helpful. I'm hoping they will eventually help me with this but am reaching out everywhere I can to get some help with this ASAP. Getting pretty desperate to get this resolved. Having to cut everything indexed is ok but it would be so much faster with the rotary actively moving. Really hoping I wont have to resort to getting one of their competitors software packages. I really believe roboDK is capable of doing what I need it to do and I really want to believe in RoboDK. Just need someone with the expertise to make it happen. Actually I like roboDK a lot. Would be a great advocate for it if we can get it to work correctly with my entire setup.
I am a machinist, not a python programmer. I am learning python in the hope that I can eventually understand everything that is going on in the post processor and edit it successfully myself but I'm not there yet. Tried chatGPT. It actually gave me functional post processors but they did not resolve my issues. I knew that was a long shot.
It would be in roboDK's interest to get this to work. The company that made this robot cell "Robotic solutions" made hundreds of cells that use this configuration. At the moment everyone that has one would have to buy Eureka robot @ 18k$, robot master for 16,500$ or suffer through using powermill which comes with it but is absolutely a nightmare to use. They could sell a lot of licenses if they got this to work correctly.
We actually had robotic solutions come out and show me how to set up our robotic cell. This included remote assistance. Unfortunately they have no interest in helping me get roboDK to work with their configuration. They sell Eureka robot simulator so helping me would actually lose them money. I get that but it does me no good. They wont even send me functional sample code. When I asked they ghosted on me.
Thank you for reading this! Hopefully some kind soul has the information I need and is willing to share it. You would be really helping me out!
