Posts by MOM

He asked for switching to English (so chinese or korean does not really matters)

Easiest way is keeping all points in different src files

Having one main programme with

- initialization

- calling subprogrammes (watch the size limits)

This was already discussed in some threads - simply use search function

No one actually have an idea how the system is working (KHS v2.02?).

So let us talk about the whether until we get the informations needed.

In the southern part of Germany it is not very cold a bit raining.

As soon as getting more information (as asked before) it may make sense to give some adcvice

As I told you in post #3 -> check with khs

khs is using a soft plc, sycon and mcfb

(which part belong to khs v2.02 is actually unknown)

Yea,

first read first

then ask again

more information would be very highly welcome.

This forum was designed to ask questions trying to solve problems.

And this forum was also designed to help others to solve their problems.

It woud be very helpful for all of us to get more information why and how your problem was solved

User level?

You would need to check with KHS.

how accurate are your XYZ_GLOBAL values?

XYZ_GLOBAL:

720.9, -1608.7, 1140.1

316.4, -1599.9, 1649.1

XYZABC_ROBOT:

542.573792, -1015.0, 1139.8335

944.124817, -1015.0, 1652.27429

XYZ_GLOBAL: Y-values offset app. 9 mm

XYZABC_ROBOT: Y-values offset 0 mm

Eric

I have no idea what you are talking about

Maybe you make a drawing explaining your statements

What is a Frame?

How is the TCP specially located to what center point?

Quote from Askic

" bei einem Andocken der Schweißzange an den Roboter die beiden Toolframes ( Toolframe eines Roboters und der Schweißzange Toolframe) identisch sind."

This sentence is bit confusing.

When a tool is built then it make also sense to do measurements to have the dimensions and orientation of this tool and call it Toolframe of the Welding Gun and can be used as values for the Robot Toolframe

In order to check your results you may also use the build in function:

Calibration - Base - Numeric input

The idea behind:

You have four test points with given values coming from a cad system

Move the robot to the test point

get the robot values

insert the cad values

At the end kuka will calculate the base values and the average error

As you can see here the rotation matrix Ez(A), Ey(B), Ex(C) gives the same result.

Taking these values p1, p2, p3 and p4 should match.

With the angles A, B and C you can also calculate rotation matrix R.

You must actually get the same values as using quaternations to calculate a rotation matrix

If the values are different then you did something wrong

the zip file given by panic mode contains also the proper way to calculate the angles (MAT_TO_RPY).

I this case you also have to use the ARCTAN2 from the zip file.

You got the minus sign for free? Because you are using a lot of them

Are they all properly set

It looks like no - what do you want to achieve?

Quote from hermann

Think, even if you want to do it only with ini files, you have to delete the old configuration on the ibs card (if there is one) with the Phoenix cmd tool.

and you also have to reset the card.

The svc file is updating the plc program, not deleting!

With this I had a lot of fun in the past

Not Following the rules:

- do everything you can do to hide the changes

- never document what you have done

this is called "travel bit"

If a svc file was used and you have nothing to and want to spend your time for something:

- take the svc file

- take firmware version description (pdf or chm file)

and figure out what the svc file is actually doing.

If you are at customers site, not knowing what you should do => this is the perfect job for you

Quote from Mihai85

have the same errors, the robot stopped in the exact same place as the first time.

More information on that would be very helpful - exact place

Quote from matevz91

Is it necessary to use a program tool to set up interbus or can it be done manually in iosys.ini and interbus.ini files on robot?

It depends on your task!

Using just the inifiles:

the interbus driver starts and reads the actual interbus configuration

(most of the time this is good enough)

Using svc files:

the svc file programs a little "plc program" on the interbus card, like

bit and/or byte swapping

deep interbus check (detected interbusmust look exactly as programmed)

changing order of interbus modules (e.g. 2 8-Bit inputs and 1 16-Bit input module programmed)

Worst case scenario:

do an undocumented combination of both.

My suggestion:

for simple application just use ini files

for more complex application the svc file (ini files are still needed) with a very good documentation,

otherwise you will make a lot of "friends"

On your picture you do not see too much.

If the robot axes are set to A1 0.0°, A2 -90.0°, A3 90.0°, A4 0.0°, A5 0.0°, A6 0.0° then Flange coordinate system looks like

X-Axis pointing down (towards floor)

if you are in front of robot looking towards robot

Y-Axis left side

Z-Axis towards you

Rotation:

A rotation around Z-Axis

B rotation around Y'-Axis

C rotation around X''-Axis

starting with your post #5

is this checked or just guessed?

If you want to do any rotation do the correct calculations!

Sometimes Math is smarter than you - Iearned it the hard way)

regarding your post #6

KSS 8.3.9 is a very old version and should/could be updated !?)

(there is one saying: never change a running system - remember that!)

But:

If everything is working proberly -> why would you want to upgrade?

If there are any problems check with kuka and you will get a free update (NOT upgrade)

Choose the one with the gray icon