Does the KUKA KR210 (V)KRC2ed05 robot have the function of synchronizing with the external E1 rotation axis?

Hello everyone, I am in the process of post-processing on Powermill for CNC Robot KUKA KR210 with 1 external E1 rotating platform, Robot uses controller (V)KRC2ed05. I am setting up "Multi-Axis Coordinate transform" but I don't know if this Robot's Controller has the function to control the E1 rotating axis to move in Synchronization with the Robot or not? Or is it just 6+1 form. And if so, where is this function set up on this Controller? Should this function be turned on or off. "<CoordinateTransform Enabled="True/False" TransformOrder="E1">" Anyone with experience please help me, Thank you very much everyone?

Quote from Fubini

I can not tell you what to do in Powermill but yes robot controllers of Kuka have the ability to geometrically couple robot with an external axis. That is called base external kinematic since it is done by definition of a $base moving with the external kinematic. So first you need to create this base on your robot controller. It then can be activated by $ base = ek(...). You can find multiple threads about this using the forum search.

Or are you talking only of velocity profile synchronization? In that case there is nothing to do. Velocity profiles of robot and external axes are always time synchronized even phase synchronized. They start and end at the same time and changing velocity profile parameters like velocity, acceleration, ... does not change the Cartesian path of the robots TCP.

I mean does this KUKA Robot with (V)KRC2ed05 (VW) controller support the function of real-time motion synchronization with the Rotating Axis so that the RCPT of the Robot moves in sync with the rotation of the E1 Turntable. and if so, how is the function enabled? I have understood how to enable <CoordinateTransform Enabled="True" if the Robot is not synchronized with the E1 and "False" if the Robot is synchronized.

Quote from robot-cnc

is not that simple, there are alot of settings to do, You need an integrator to help adding krc2 internal driver, cables, settings in machine.dat.

Is important also to well configure real robot with Rotary table in the Powermill .

Thanks for your response. can you elaborate on the support integration on the controller and the setup in machine data? as for the robot configuration in Powermill I think I can do it. thank you.

Quote from panic mode

you need someone to start by collecting data on your own controller. does it have any servo drive for external axis already? with or without SBM? how is it powered? any bottlenecks such as transformer, line fuses, etc?

then integrate missing hardware and configure it.

then measure root point to get mathematical coupling.

btw just recently i did the same on a robot with two external axes and while everything was working fine from the robot side, there were challenges to setup the grasshopper or whatever they use. in the end they found it is easier if the turntable is not coupled, they just let their software calculate turntable positions.

I have configured and executed the manual movement commands and programmed each test run, the E1 axis is already working. I have just programmed each step in the Robot running style, then the E1 axis runs.

I am also having a problem that the E1 Axis brakes when stopping with a jerking sound, not as smooth as the Robot.

My E1 Axis also has a Harmonic Gearbox and a Servo Motor similar to Axis 4,5,6.

I am also having a problem that the E1 Axis brakes when stopping with a jerking sound, not as smooth as the Robot.

My E1 Axis also has a Harmonic Gearbox and a Servo Motor similar to Axis 4,5,6.

Here is a picture of my E1 Axis configuration, please help me.

Below is my E1 axis configuration file, please help me.

Quote from robot-cnc

share machine.dat file to take a look

Thanks for your help. This is File Machine, please help me.

Quote from Fubini

For a synchronized move external axis has to be kinematically integrated into machine.dat as a base kinematic. The section starting with $ex_ax_num is not configured in your setup. Get external axis documentation from KUKA or from inside this forum. Also consider

Post

RE: moveable Bases with a linear axis.

Basis auf einer Linearachse - KUKA Roboter - Roboterforum.de - die Industrieroboter und Cobot Community

Quick Deepl Translation:
Of course you can do this with the KRC. But admittedly you have to be a bit tricky. If I understand the problem correctly, you want a base that moves with the KL, similar to a base on a rotary tilting table, for example, and then moves on this base. Now you already have a configuration in which the additional axis kinematics is configured as robot kinematics (of type…

Fubini

June 20, 2024 at 4:27 PM

Post

Re: 2 external axis+ceiling robot

Hi,

the transformation chain for any external kinematic is (see R1/$machine.dat)

$ETn_TA1KR(Ex1) : $ET1_TA2A1(Ex2) : $ETn_TA2A1(Ex3) : ETn_TFLA3, n = 1,..., 6 (n = number of the external kinematic),

where always the "z-axis" inside these coordinate systems is the axis of revolution/translation according to the axis type (linear/rotational, see $AXIS_TYPE).

Which axes Ex1, Ex2, Ex3 are used inside which external kinematic is defined by $ETn_AX, n = 1,..., 6 (n = number of the external kinematic).…

Fubini

June 18, 2016 at 12:44 PM

Thank you, I will look into this tutorial.