Posts by xlyanyura
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Also, when I turn the table in idle mode, the z coordinates also change, but with a minus sign, even though it stands still, it does not move anywhere, only on the controller.
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Help me figure out the calibration of the rotary table. I've been struggling for a month, I thought that the robot and the rotary table were uneven, then I screwed everything up and leveled it, but the problem still remained. In the powermill program, I created a square strategy, when I run it at work, everything seems to work, but it starts from one point, passes through the wrong square, arrives at the same point, but at the same time, the z-axis always goes up. Although the z coordinates remain unchanged on the controller, what could be my problem, thank you.
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You have wrong Base Frame orientation on table , is like z+ is toward ground not up. Check C rotation value on BASE 17 numerical input, if 0 try to put 180, if 180 try with 0.
Otherwise it could come from spindle orientations too.
What program use you for program generation?
You must have same base orientations between those from program with those in real robot.
Hello, I use powermill, but where can I change this direction?
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I have a problem, I have already activated the external axis, but the following problem has arisen: the cutter rotates upside down. I will attach a short video
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when the file is downloaded and when the file is started, the coordinates change for some reason, is it possible to turn off something in Pavermill?
Tomorrow I will go to the robot, it is a little far from where I live and I will tell you which coordinates it cannot reach
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Ця програма не встановлює $BASE або $TOOL. Тому ми не знаємо, які параметри активні, коли виникає ця помилка.
«Робочий діапазон перевищено» означає, що робот фізично не може досягти заданих координат. Ви можете спробувати відкрити монітор позиції та спробувати підштовхнути робота до цього значення XYZABC, щоб побачити, яка координата не вдається.
when the file is downloaded and when the file is started, the coordinates change for some reason, is it possible to turn off something in Pavermill?
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My sequence of actions is like this: I calibrated the rotary table and the tool, it shows how in the pavermill I turned the rotary table, moved to a point and checked in the pavermill, then everything converges. Maybe I set the database incorrectly, because when I load the program into the robot, it changes everything. Help me figure it out, because I've been suffering for 2 days and I can't get out.
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I have such a problem, when I launch the program in Power Mill, such a problem is displayed. I will attach a photo. Can you tell me what I am doing wrong?
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Whats called in later releases machine_def seems to be called
in your software version. But since all values inside this struct seem not to be configured you need to measure in your external kinematic first. How is described in documentation. Afterwards you need to modify powermill to generate ek commands using ex_ax_data not machine_def.
Considering your shown level of experience you should either get training or hire external help. Forum can not replace formal training only pointing into the right direction and this is what I have done over and over again but we are no step further as in RE: The KRC 2 .src file is not recognized as a program file. Whats written there still is valid. But execution needs to be done by you and can not be done remote for you by us. Please read manuals and try to learn the system from scratch.
Fubini
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Whats called in later releases machine_def seems to be called
in your software version. But since all values inside this struct seem not to be configured you need to measure in your external kinematic first. How is described in documentation. Afterwards you need to modify powermill to generate ek commands using ex_ax_data not machine_def.
Considering your shown level of experience you should either get training or hire external help. Forum can not replace formal training only pointing into the right direction and this is what I have done over and over again but we are no step further as in RE: The KRC 2 .src file is not recognized as a program file. Whats written there still is valid. But execution needs to be done by you and can not be done remote for you by us. Please read manuals and try to learn the system from scratch.
Fubini
If I changed it in the postprocessor as you said, then the files are already compiled, but a new error appears, you can see if I did well, or if something else is needed there
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sterile copy of the file is found in the installer. did you check your D: ?
D:\KRC_Release\INTERNAT\KRCSETUP\KRC\ROBOTER\KRC\R1\System\
oh, my file, can you look at it, is it intact?
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The variable Machine_def[] should be defined in $config.dat. If not, your system is corrupted. At least try to get the correct $config.dat.
Oh, honestly, I'm confused, please help me because I'm at a dead end, can you tell me how to get the correct $config.dat?
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So Powermill generated ek command and it's probably needed. Instead of deleting it you should fix it. See my remarks above.
If the command is left out the robot will not move jointly with your rotary table. Instead of the base system being attached to the flange of your rotary table it will be a fixed base system in space. See also other threads in this forum referring to ek command.
Posted just last week:
PostRE: Changing bases with a turn table
And if you want to not loose geometric coupling to the external kinematic read about the EK command. When asxigning the base like you its not associated with the table.
robot-forum.com/robotforum/thread/?postID=188793#post188793 robot-forum.com/robotforum/thread/?postID=184287#post184287 FubiniFubiniDecember 22, 2022 at 5:34 PM Maybe you could also adapt the generator in powermill to generate for your version.
Fubini
Ek activates a moving base attached to a external kinematic. Without Ek its only a static base.
I see on the forum that you wrote here, but where are those changes to be made at work or at the pavermill?
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Simply deleting lines just because they cause a compile error seldom a good idea. Those lines might have been there for a reason. They activated a base moving with your external kinematic. So your process might no longer work. What are you trying to do anyway?
Whats an ordinary rotary table? No definition I am familiar with.
How many degrees of freedom? 1, 2 or 3
Associated with which external kinematic? easys, ebsys, ...
How did you setup in machine data?
Measured?
Measured bases?
...
I use the powermill program, everything is set up there, 6 axes work well, but when I take it to a turn, it does not compile.
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Simply deleting lines just because they cause a compile error seldom a good idea. Those lines might have been there for a reason. They activated a base moving with your external kinematic. So your process might no longer work. What are you trying to do anyway?
Whats an ordinary rotary table? No definition I am familiar with.
How many degrees of freedom? 1, 2 or 3
Associated with which external kinematic? easys, ebsys, ...
How did you setup in machine data?
Measured?
Measured bases?
...
1 degree of freedom.
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Compiled successfully? Or did they produce another error?
That's a very deep and broad topic. What's generating those erroneous $BASE lines, and why? Does your robot have an external axis with kinematic integration?
Compiled successfully. And the rotary table is ordinary.