If it helps, you can also use C_VEL instead of C_DIS. C_DIS sets smoothing at a certain distance of the point. C_VEL try's to keep a certain speed through a point.
This is not a miracle worker, like Panic mode said you can not bend the laws of nature. but during some milling operations i find it easier to use. C_DIS I only use when i need a specific radius.
Yes, you have to remaster. there is no way to recover the mastering data when it is lost. But before you remaster the robot check the battery's. A power outage should not cause mastering loss. that is one of the reasons the battery's are in the cabinet.
Currently, the robot is the position where it was performing the program, should I jog the robot out of the way?
you have to go to the mastering position anyway so that is fine.
Interesting topic, I don't consider myself a real software engineer (it is only a small part of my resposibilty's). So for me this topic is more of a learning experience then that i can contribute something substantial.
I don't have specific rules/guides in need to follow. i am the only software engineer in the company so i can decide for myself what i do or don't do. all the software stays internal so i also don't have to worry
about customers or external engineers.
Generally speaking for naming signals i will use a prefix like: IN_Spindle_chuck_open or OUT_Spindle_chuck_open. Local variables i am less strict with. Especially when i use some sort of generic loop counter, where i have a variable that literally is called counter. I know it is not the best practice but most of the time i can't think of anything else.
I do program everything in English even though it is not my native language. Using my own language feels wrong somehow. perhaps because every code i have seen has been in English.
Please do not think of this as a collision.
How Then should we think about this? The problem that are describing i would label as a serious problem with either your programming or your robot. The worst thing is you only seem to be interested in solving the symptoms and not the problem itself.
This way of thinking will get you nowhere and personally i don't really like to help in this way.
Well, i would advise to fix the problem that keeps your points from deteriorating. This should be simpler then reteaching all your points.
Else make a new base to refer your points to, and if something happens you only have to reteach the new base. (but i strongly advise that you fix your problem)
You can still have your point of origin in the top left corner if you want to. In that case you have to rotate your base around the z-axis (if you want to work in X/Y positive plane). If that doesn't matter to you can always work in Y negative.
What i am trying to say that when working with a base the choice is completely yours on how to implement them as long as you understand how they work.
Simple answer Yes probably, Now to figure out where it is going wrong you have to check the steps that you follow during measurement.
Step 1. select tool for measurement (tool should be accurately measured for good base measurement)
Step 2. Move to origin of Coordinate system or simply the 0 position of the base you are trying to create.
Step 3. Move to a point on the X-axis in the positive direction (the further away from your origin the better)
Step 4. Move to a point on the Positive X/Y Plane (again the further away from origin the better.)
So if you have followed these steps to the letter your base calculation should be oke. If this is the case i can probably guess where it is going wrong.
If for example your new X-axis is in the same direction as your X-world axis. but your new Y-axis is in the opposite direction of the world Y-axis then your z-axis also flips.
The relation between X,Y and Z is locked so you can not just flip 1 axis and expect the others to be the same. Check this before you measure a Base.
Well, i dont want to be the bringer of bad news, but the reason that there are different bases you can use is because you can not (or better should not) change your nullframe or world.
Programming everything in Nullframe is what i would call a rookie mistake, that most people only make once.
Now for an other idea, I presume the programs are made with inline forms? you can still open those programs with a text editor and use Find and replace to change base. (in have never worked with inline forms on a KRC4, but i think that should work.)
there are multiple reasons to either put the spindle on an angle (or not). It depends on your application and in what position you need to mill. Reasons could be: Avoiding singularity problems between A4/A6, Getting more clearance between your robot and the piece that your trying to mill and reach. There are probably more, but this is the first that come to mind.
I have all my spindles mounted flat to A6, For me the biggest reason to do that is that i needed to be able to use mill with the robot completely reaching over/around my workpiece. It also made the mounting flange a lot simpler to manufacture, but i count that as a happy accident.
Thanks for the information, Unfortunately the entire project has been cancelled. so for now no new robots 
.
Top of your screen "monitor" then you get a drop down menu with robot position. You can choose between axis and Cartesian.
Lets say for example I wish to mount the spindle as pictured. What is the most straightforward method for me to view its position/coordinates in space to fit the spindle?
Well the simplest way i can explain it, is to say it doesn't matter how or where you mount your spindle. The important thing is that after the spindle is mounted you preform a tool measurement to tell the robot where its TCP (Tool center point) is. After that is done you can preform a base measurement on your table/workpiece/ or whatever with the tool you just measured. After all that you can see your spindle position and direction in relation to your base/table/workpiece.
The thing you have to understand is that a robot is a blank slate, you have to do all the work. This might be a bit challenging in the beginning, but once you realize the freedom that you have in programming you can do a lot. You can mount your spindle under any angle you like to A6 (preferably a angle that gives you your needed reach, but that depends on your application). The same goes for your table and workpiece.
The important thing is that none off this works without a proper mastering, whatever you make sure that that is correct before you do anything else.
Technically both would be new to me. But i have experience setting up (V)KRC2's with KR150's and KR210's. In case of kuka the "new" part would be the KRC4. The UR bot i have only seen in pictures and video.
At the moment it looks like the project is a bit stuck in limbo, I at least have not worked on it for several weeks. I did however messed around a bit with the Polyscope simulator. which wasn't all bad. i am not a big fan of how it works, but i can work with it.
I have had a conversation with my sales rep from kuka, most of the conversation was about delivery time for a new robot. what at the moment seems to be a bit of problem. But i also asked what he thought about the situation. I could hear he tried to be polite, but i could tell he was not a fan of the Universal robots. He made a remark about the durability of the cobot vs there KR10. I know that mechanically the kuka robots are designed and build to last. We have 3 robots here that are almost 20 years old and mechanically they are still in great condition. (but i have to admit that in the controller we have had plenty of issues) and if you compare that to the UR10 wich is of course a bit lighter in build (because it can be, and probably because it needs to be from a safety perspective). So i can probably see that they probably wont last as long as a kuka bot. But in there defensive i can't find any stories of UR bots being of bad quality or last only a short time.
That is the problem with sales reps (from both sides) the really like to sell me things.
To make it easier for me is that my boss has already approved the higher budget for the UR10 so it basically comes down to what i think is best for this application. both will work but the UR10 will give me the flexibility to not have fencing and thus have a much lower required floor space.
Thanks for the Information, It is always a bit difficult when i a seller or sales representative seams over optimistic about a product. What is definitely the case with the sales rep i got for UR. In the end it is probably comes down to if i want to build a cobot application or a traditional robot cell.
If i only look at the cost, the traditional cell is the cheaper option, but with the cobot i can be lot more flexible if i need to be.
So i am working on a new project where i need a robot to load and unload and machine that makes plastic watering cans. For me the first choice is a Kuka robot. In this case Probably the KR10 R1420. But i was also offered a Universal robots UR10.
The thing is i am a bit hesitant to use the UR10, moslty because i am unfamiliar with it in the sense that is know what it is and what its capabilities are, but never had any hands on experience. To compare i have been working with Kuka bots for over 7 years.
So i want ask a few questions to people here who have had hands on experience with the UR10 (or another robot from universal robots) and don't want sell me a robot.
My first question is about programming. What i can find on the internet and what the seller tells me is: it is super simple, you learn it within a hour. What i hear is that there is a user friendly interface you use to program, but with limited depth. I see it the same light as the Inline forms from kuka. Yes it is easy to use, but for complicated programming with base shifts and product measurement i prefer to write my own code. Does the UR software allow for more complex programming or are you stuck with basic functions? or are there enough functions that i dont need to worry about that.
My second question concerns safety. One of the biggest advantages for the UR robot is that i dont have to fence everything off. well that is what the seller tells me anyway. I know it is not that simple (and sometimes differs between countries to make it easier). I think in my case i don't need fencing. i can probably keep speeds low and it is not like i am mounting a knive to it. But the last step is that watering can is placed on a table in front of an employee who preforms the more complex task that i can not automate (yet). That employee needs to feel safe working next to it, and that is a hard thing to quantify. To give an example with the kuka bots in normally work with (KR150) i am really happy that there is a fence between me and it. Even during programming at low speeds i am really mindfull of where it is and where it is going because i know that it wont stop if it hits me. Now this an extreme example because of the size of robot. But i have seen small robots move with high speeds, and i don't want to get near those. Basically what i am asking if people here have had crashes/accidents and how safe you feel working next to it. I know this is a bit of a vaque question, but i a really interested in this.
Looking forward to your input/thoughts
What exactly do you mean by "does not turn off from the battery"? Do you mean it turns off instantly, without the normal delay?
What i think he means is that the PC does not switch of at all. I had a similar problem but not with these messages i think. (can't seem to find the report that kuka made after the repair). I my case the problem was in the KPS or In the connection between the PC and the KPS.
Nshah, Please make a separate topic for this question. this has nothing to do with the question in this topic.
First you have to initialze the aggregate like {x 0, y 0, z 0, a 0, b 0,c 0}
Are you sure about this. In motion commands you can just do it just as Skyfire explained. In case you are using variables then you have to initialize them. important difference i think
That is implementation detail.
In my case i dont think it is, because it is hardwired in the safety systems. Then maybe it is a remnant of the old volkswagen control. Software is changed but the safety hardware is still there.
KSS even allowed jogging while in T2
I know, since a about of month we have 1 "newer" robot that is running kss 5.6 and i kind of miss not being able to jog in T2. It is not a problem to switch back to T1 but it is something i am still getting used to.
