how can hold tcp on fix point and move robot+linear unit simultaneously about that point?
In a program, or while jogging?
Usually, jogging E1 in World or Base mode will hold the TCP in space while the rest of the robot moves "under" it. Jogging in Joint mode will not do this, however.
In a program, performing a LIN motion between two points with the same XYZABC values but different E1 values should achieve the same result:
P1 = $POS_ACT
P2 = $POS_ACT
P2.E1 = P2.E1 + 500 ;
PTP P1 ; not really necessary
LIN P2 ; TCP should remain stationary while all robot axes moveYou must to do this measurement (Page 112). And red this document to understand how the variables works.
first you need to make sure that kinematic is integrated correctly. this means select some cartesian coordinates (such as World) and jog E1. selected TCP should stay in same point while robot and E1 are moving. if that is not the case you need to change transform setting (in the MADA). for details refer to external axis documentation - usually called "KUKA_XX_configuration_of_kinematic_systems_en.pdf" where XX is KSS version.
$ET1_TA1KR={X 0.0,Y 0.0,Z 450.0,A 0.0,B 0.0,C -90.0}
$ET1_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
$ET1_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
$ET1_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 90.0}
$ET1_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
This are not all the settings for the linear unit posted.
Can you also post what settings you have for $EX_KIN and $ET1_AX:
For example:
DECL EX_KIN $EX_KIN={ET1 #ERSYS,ET2 #NONE,ET3 #NONE,ET4 #NONE,ET5 #NONE,ET6 #NONE} ;EXTERNE KINEMATIKEN #NONE,#EASYS,#EBSYS,#ECSYS,#EDSYS,#EESYS,#EFSYS,#ERSYS
DECL ET_AX $ET1_AX={TR_A1 #E1,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
CHAR $ET1_NAME[20] ;NAME DER TRANSFORMATION ET1 MAXIMAL 20 ZEICHEN
$ET1_NAME[]="KL1500K_1"Might be helpful.
sure,
From the picture it looks ok, I have also looked to my working configurations of KL tracks and they are the same, only the transformations are different. But even if transformations are not correct in start, all the axes usually move when you jog E1 in World even if they move wrong (due to wrong transformation), but they move all.
Usually not setting the $EX_KIN or $ET_AX causes the behaviour of the robot like in your case, like it is not kinematically integrated with KL.
I guess you have also correctly set the $AXIS_TYPE[7]=1, where 1 is Linear.
What vaules do you have for example when displaying cartesian position when you move robot with E1 from one end of the track to other end.
Also I have tested in KUKA Sim with no problem.
Video of correctly set robot on KL.
Probably your parameters in $et1_ta1kr/$et1_tfla3 don't match your physical setup.
Your description of the problem is a bit confusing.
Here you said when you move robot with E1 in World, robot move like in the axis coordinate system.
panic mode I have exactly the problem that you mentioned,
when i jog the robot in tool coordinate it seems robot don't see linear unit and i have movement just on six axes. in world coordinate when i jog E1 the movement is like the joint coordinate and i have movement just on E1 not in the rest of six axes.
Now new description of the problem is that all seven axis are moving, but doesn't TCP stay in place. That means your transformations are wrong and you should look in the manual which Skyfire, Herman, Panic mode posted to set the correct transformations, because it matters how robot is positioned on linear track or you can post how is your robot positioned on the linear track or you can try with trial and error setting different transformations from the manuals until TCP stays in the place. With correct transfomations even if you use $NULLFRAME tool, TCP at the center of the flange will also stay in place when jogging E1 in World.
