I am also working with Sprutcam and if the robot is calibrated properly with the software - no problems with the accuracy at all.
If you are using a milling tool with more teeth - 6000 is fine... actually it is all depends of the material and the surface finish you need.
Posts by vvelikov
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4825 meters in minute - m/min? Thats too high... may be you are using millimeters - mm/min? Normally for the foam you need about 12000-18000 rpm and about 4000 mm/min - depends of the foam and the milling tool
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I am talking about this calibration:
https://www.robot-forum.com/robotforum/kuk…59004/#msg59004
but you probably did it if the robot is cutting fine in 2D
I was asking about the milling speed in Sprutcam - for example 2000mm/min. Sometimes, if you use too high speed, the robot uses large approximation and this can produce different toolpath trajectory.
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did you feel any movement in A5 or A4 when push it? What is the exact robot model? what speed are you using?
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Hi Mikail,
so you are using Sprutcam as CAM software?
Did you do your calibration - in Sprutcam properly? You should put into Sprutcam the exact numbers after 2 point and 4 point calibration of the robot.
Of course this can be mechanical issue with one of the axises - but if the robot is not repeating the same path with the same program and base... thats strange.can you try to make a box with cylindrical hole in the middle - try to mill the hole from different angles. that will show you the deviation better
Is the robot work precisely in 2d path?
Good accuracy is possible to be achieved with Kuka robot - i have proved that to myself
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the $config.dat is not empty i was saying that it looks like that when i look at these messages.
so - i checked this $config.dat and it wasn't full - the last about 50 lines wasn't there.
So i replaced it with the old one and everything is fine nowThanks for the help
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some yellow messages after restart:
0 the variable MAXGRIPPER is not available
R1/userspot 36 compilation error
Spindle_off compilation error
Spindle_on 15 compilation error
R1/Bosh 7 compilation error
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these errors are for every src in R1
it looks like the config.dat is blank?otherwise the robot is moving fine by hand.
Suggestions? -
when i start the submit interpreter it says:
1331 $config not correctand
1421 2 compilation error
the thing is that these modules were working just fine before we moved the robot really make me feel lost
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should i put the last archive i made?
I mean - is it a software or hardware problem? -
thank you, started the submit interpreter, but still the src files are red crossed. Also there is a message 1421 - compilation error few times.
I am doing a cold restart now - hopefully this helps...will change the batteries of course
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The submit interpreter isn't running.......Any idea how to fix it?
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Hi guys,
i have this problem, coming out when my Kuka KR150 KRC2 was moved to a new place:
Both sides of the value assignment are not compatible - i am attaching a photo of the screen
At first there was a message that the RDC and the HDD data for the robot are different - replaced the RDC one with the HDD data as it was the correct one. It gave me another error - needs to calibrate the axis A1-A6. I made a cold restart and this one gone.
Now i have the Accu-voltage at PM1 below 22 during last buffering (which might cause the data lost?) and all the SRC files are red crossed. The error point at the files for the spindle start and stop and i think something went wrong with the spindle commands definition...
Nothing in the files have been changed and i really don't know where to look
The only guess i have - will give it a try now - is that it is connected with a loose wire somewhere and will check that out.
Any help appreciated! -
I think it is a free package.
Link:
http://www.kuka-robotics.com/en/downloads/s…ETA_02=Software -
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Did you check the tool load? If the robot thinks that the tool is heavy, that might cause this slow motion.
Or may be your robot is with limited speed?
Is it moving fast when you program it manually? -
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HSD with ATC (ER11-20, ER32 and ER40), Elte (ER32) and one small but tough chinese spindle 2.2 KW with water cooling - ER20.
I think the best solution for you would be the chinese one as it is light (about 5kg) and durable - did some MDF milling with it with no problem at all except some loose bolts but that was easily fixed. Just be careful to buy the ER20 one, not the ER11 or ER16.
Most of the time the water cooling is not needed as the spindle is not getting hot even after about 4-6 hrs work. And it is cheap -
$ADVANCE = 5 - just determines how many steps to be read in advance
$APO.CDIS= - this is the approximation value for the deviation of the programmed path between the points. As you ar doing surface milling you should follow the points as close is possible. So smaller value is better to have good path accuracy. Thats from my experience, may be i am not entirely right
By the way - what is the speed you are trying to achieve - what speed you are using when programming? and what is the real one? How you calculate it? Sometimes the robot is slowing down its speed when it is close to singularities - may be this is the issue?
Do you have video of the real movements? -
Did you try this:
$ADVANCE = 5 ?
Also $APO.CDIS=20 - isn't that too much for milling? Do you have smooth movement of the TCP or it is a bit shaky?
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Some sample code will help us to understand better