Hello guys, i am a little bit new regarding with KUKA Robots, and currently i am on a proyect where i need to calibrate some robots that have been without power for more than 1.5 year.
The model of the robots are :
KUKA KR 470-2PA, with KRC4 controller.
I have been asked for several questions regarding to the mastering (for the customer), and i just have some information that i found on the manuals about mastering. Eventhough this, i still have some questions.
1) Can i master a new Robot for example in the shop, and then disconnect the robot, and place the robot on the working area, and connect it to the same controller and still keep the mastering? I know that Fanuc robots have batteries on the robot, but as far i as know, batteries on kuka are located on the Controller, so, i will lost mastering if i unplug the robot from the Controller, and then connect it again?
2) The Robots are handling several payloads, depending of the process, some robots handle 150 Kg payload + 50 Kg tooling, others handle 30 Kg payload + 50 Kg tooling, and the others 200 Kg + 50 Kg tooling. The Robots were already tested on the shop, moving the payloads, but i don't know if they were calibrated with the "offset" or "load compensation" there. So my question is, if the Robots need mastering, do i need to calibrate with the "load compensation", "offset" option? or just with the regular mastering should be ok?, should my first mastering be without the tooling? Then the tooling? then the tooling with load?
3) Can i master the robots regardless of the position of the other axis? For example, calibrate axis 1, then move the Robot in A1 to have enough space to calibrate axis 2, and so on? Or all axes needs to be on the pre-mastering position to be calibrated?
Sorry it was a long text, hope you guys can give some advices.
Cheers!