Posts by happytriger2000

Expert programming PDF page 92, section 3.6. Teach point.

I found the files for C1 and T1 used for ATC:

open attachment.

The button on the spindle is to clmp the tool only. The motion is recorded using Teach mode in KCP.

I have done this before is quite straight forward.
You need to build a ATC rack for the tools, ISO30 or HSK, etc
Guide the robot to the above position of the tool you are going to use, lower the spindle to match the tool holder, press the green button on the spindle to manual tool change or Digital output to clamp the tool, retract the tool off the gripper, then save this motion as let say "t1.SRC"
In this code:

Def line01()
INI

PTP Home Vel=100 % DEFAULT
t1()
c1()
PTP HOME Vel = 100 % DEFAULT

END

c1 is to catch tool, t1 is to put the tool back.

I read this post :
https://www.robot-forum.com/robotforum/kuk…-charging-unit/
I use a lot of MRJ2S AMPs use 220VAC 3PH.
In the post above stated KRC2ed05, how about KRC1 does it use VDC too for amps?

Hi,
I've just realized that kuka servo's are VDC, which part of the controller converts 220/400VAC 3Ph to 600~700VDC?

There are other options such as Kuka PRC by Robotarchitecture:
http://www.robotsinarchitecture.org/kuka-prc

A new project coming up that is to re-build the RM-501 controller.
So far I know the DC motor for A1 is a 24V with encoder resolution = 60ppr---> X4 = 240ppr.
The Encoder wiring: red = 5v, black 0v, Green =Phase A, White = Phase B
Motor Power = Red = 24VDc, Black = 0v.
A1 gear ratio = not sure
A2 gear ratio = not sure
A3 gear ratio = not sure
A4 gear ratio = not sure
A5 gear ratio = not sure

If you know please let us know.

INT $EX_AX_NUM=2 ;ANZAHL EXTERNER ACHSEN (0-6)
INT $EX_AX_ASYNC='B0000' ;EXTERNE ACHSEN ASYNCHRON
INT $ASYNC_T1_FAST='B0000' ;GESCHW.-RED. DEAKTIVIERT ( T1 )
INT $ASYNC_EX_AX_DECOUPLE='B0000' ;BITFELD FUER ABGEKOPPELTE ZUSATZACHSEN
DECL EX_KIN $EX_KIN={ET1 #ERSYS,ET2 #EASYS,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"
FRAME $ET1_TA1KR={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 90.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET1
FRAME $ET1_TA2A1={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET1_TA3A2={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET1_TFLA3={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c -90.0} ;ZWISCHEN FL UND A3
FRAME $ET1_TPINFL={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0} ;ZWISCHEN MESSPUNKT UND FL
DECL ET_AX $ET2_AX={TR_A1 #E2,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
CHAR $ET2_NAME[20] ;NAME DER TRANSFORMATION ET2 MAX. 20 ZEICHEN
$ET2_NAME[]="FREDDY"
FRAME $ET2_TA1KR={x 0.0,y 0.0,z 820.0,a 0.0,b 0.0,c -90.0} ;FRAME ZWISCHEN A1 UND FUSSPUNKT DER KIN IN TRAFO ET2
FRAME $ET2_TA2A1={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0} ;ZWISCHEN A2 UND A1
FRAME $ET2_TA3A2={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0} ;ZWISCHEN A3 UND A2
FRAME $ET2_TFLA3={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0} ;ZWISCHEN FL UND A3
FRAME $ET2_TPINFL={x 317.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0} ;ZWISCHEN MESSPUNKT UND FL

This line: DECL ET_AX $ET1_AX={TR_A1 #E1,TR_A2 #NONE,TR_A3 #NONE} ;EXTERNE ACHSEN #NONE, #E1, #E2, #E3, #E4, #E5, #E6
If I change to TR_A2 #E2,....
what will this affect?

looking at the last 2 videos, is my external axes set correctly? I need some confirmation on this otherwise I'm not sure whether is the robot side or Software side needed to correct.

Here is another test using this SRC file: open attachment.
Run REC3-test.src until it moves away from the home position, then move E1:
All axes moved, TCP stays still:

http://youtu.be/ZbxyKcu8YcI

then Move E2:

http://youtu.be/3PjOjdN0lNA

Quote from DannyDJ

I see that RM program has 2 CIRC command(that is OK), what are other lin motions? moving to/from circular object.

The REC3.src stopped at line # 23: LIN {X 300.0000,Y 0.0000,Z 350.0000,A 0.1910,B 0.0000,C 180.0000,E1 -0.1910,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0} C_DIS
with following messages:

Dynamic Braking Cancelled
Dynamic Braking Cancelled
Drive Disabled (extern)
Drives Contact off.

Quote from DannyDJ

I also forgot that you have robot on linear track. To test if robot is setup ok on linear track, choose world coordinate system and move robot with E1 then tcp of the robot will be still while other axes of the robot are moving. For the turn table the simple test is the same like before.

I followed your instructions, the Robot position is at Home pos., PTP {A1 0.0000,A2 -90.0000,A3 90.0000,A4 0.0000,A5 0.0000,A6 0.0000,E1 0.0000,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}, Switched to World Corodinates System , move E1, only A4 rotates.
Move E2, rotary table rotates.

I also did another test, Switch to Joint Coordinate System, move E1 to about -1000, then move E2 to 45 deg., then run a Home program this would return robot to home position, the linear track and rotary table returns to its home pos., have look at the vid.:

http://youtu.be/ts591WLVs80

Quote from DannyDJ

I can send you some machine.dat file of my DKP400 turn/tilt external kinemtics config.

Thanks, I'll PM you my email.

Which spindle are you using?
I use both HSD and GC, can go up to 20mm ER32 max. I Think.

Hello again,
I have attached the wrong SRC file.
The youtube link's SRC file is in the attachment.

DannyDJ,
I'll briefly go through what we did yesterday:
1st we need to make Z=0 at A1's floor, the robot z=0 was somewhere under A1 near the concrete floor, so we changed FRAME $ET1_TA1KR={x 0.0,y 0.0,z 450,a 0.0,b 00.0,c 90.0} to FRAME $ET1_TA1KR={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 90.0}.

The robot's linear axis = E1 the rotary table = E2. The post-processor I decided to use was 6+1 for 2 different setups, Robot + linear track milling and Robot + rotary milling.
We tested an SRC example from RM, see the link from youtube and the SRC code is in the attachment.
The reseller had modified the post so that rotary is set to E1 and Linear track to E2 for this test.

Quote from DannyDJ

But i don't know if RM uses CIRC command for generating contour of milling. also you have to calibrate turning table on base[17] "external axis". It's well documented in the KSS manual.

so if you calibrated correctly the turn table on base[17], you can do simple test: choose base[17] coordinate system and jog E1 and the robot must follow the turn table, if it's going wierd then you also need to calibrate the turn table(external kinematics in the manual).

CIRC command is it the same as Circular motion Setup on the right of the Robot Configurator?

Found External Kinematics in bedhbstartup_r5.2_en.pdf, will have a look at it.

Hi Metalikooky,
Thanks for replying.
I will send the code tomorrow.
It is moving in simultaneous motion, A5 and A6 should not be moving, should be still same as the simulation.
External TCP, will look into that.

thanks,

Hello all,
I have received my new post-processor from the reseller and today we are testing the rotary motion for milling.
The actual motion of the KR210 robot is different to the RM simulation.

RM simulation:
https://www.youtube.com/watch?v=D_Dz2Tya4ko&feature=youtu.be

Actual Robot motion:

https://www.youtube.com/watch?v=Zr2Nw2aR7do&feature=youtu.be

As you can see the real robot is turning A5 and A6 where as the RM simulation are still. Does anyone know how to solve this?

thanks,

Here is an example;
In X6RM open the example file Swarf from: C:\Users\Public\Documents\shared Mcamx6\mcx\mill\samples\metric\Multiaxis\1 CLASSIC, generate SRC file with RM, when creating the SRC file I also get an SWARF.err, see picture in the attachment.

Hi fazza85,
I have been emailing the SE Asia distributor of Mastercam on solving the issue and also the local Mastercam, hopefully I can get it before Mid August then I can go on holiday in Uk. Where in uk are located?

Because I have already paid for X6RM about 2years ago, and have no idea why there's always an error after generating SRC file from RM, and is not fixed yet. Really not happy with their service.
Yes I have contacted Sprutcam for demo.