Hola , les comento el problema que tengo. El robot esta funcionando bien , lo apagaron y lo volvieron a prender y aparecieron las alarmas de AJUSTES DE EJES A1,A2,A3,A4,A5,A6. Se midieron las dos baterías en serie registrando un valor con el multímetro 25vdc. Se reemplazaron por unas nuevas por las dudas y pero luego de calibrar de nuevo los ejes del robot, no respeta las trayectorias grabadas en el programa . Cual puede ser el problema? o si me pueden brindar una solución? gracias.
Problemas de masterización del KRC1
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Gaston -
March 18, 2025 at 5:19 PM -
Thread is Unresolved
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Fubini
March 18, 2025 at 6:40 PM Approved the thread. -
Your previous and your current mastering do not match. How exactly did you master now and how the last time? Emt hopefully both times.
How big is the error?
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well,,... just as i suspected...
the marks are there to indicate starting position for mastering with electronic tool. all of those marks are off by about 1.5-2.5deg in the positive direction. so during mastering with electronic tool, axis slowly moves backwards searching for exact mechanical zero (center of V-notch on the mastering cartridge). once it passes that center it stops search and references the axis. then you do the same for every other axis.
if mastering is done by dial gauge, one need to manually jog axis back and forth to really "dial in" onto that V-notch center. then you Dial master that axis. note, robot does not know if the position is correct or not, it simply assumes that you know what you are doing and that current position is ok.
no wonder robot does not move correctly. you need to find someone with the right tool who knows how to use it.
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