Hello,
have you checked A6 axis?
If everything with axes will be ok, then you should be able to make proper tool calibration. (Even if tool is bend or is moved on robot flange). For first, you can check visually, if marks on flange are matching, when A6 axis is in 0.0 deg position. Maybe something happened with A5 and A6 belts, if crash was hard?
Posts by animisiewaz
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There is no tool attached on the robot, so no load data is entered.
Your tool is gauge mounted on robot arm, am I right?
If you have in LOAD_DATA[ x] = {M=-1, (...)}, robot is acting like with full load (in your case 420 kilos) - it has big influence on movements! So you have to input load data as it is (even if it is very low value).
And I do get linear motion with deviation of approximately 0,1mm, but orthogonality is messed up. Moving in Y is OK, moving in X is not OK.
so I am wondering I something has happened to the robot while transport?
Or its calibration is messed up?
You should check your calibration with EMD tool, then you will be 100% sure. -
First question is, do you have correctly measured used tool and measured load data? If load data is not set, robot can move not exactly in correct way.
Look at the differences between G-Code and KRL. Deviation is few only microns, or less and this is result of transformation of XYZ coordinates to positions of robot axes. I think that you don't have to worry about it.
In datasheet of robot you can find "repeatablity" of robot - it means accuracy of repeatable reaching of the same position, not accuracy of reaching any cartesian position.
Analyse movement of axes during test. Maybe one of axes is changing direction of rotation druring LIN motion and then deviation of position appears? Try to move marble block in other position of robot workspace and repeat test again - probably results will differ. It is not so easy to obtain perfectly linear motion with end of 2500-kilos and 6-joint piece of steel
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It seems that you have to import Beckhoff EL1xxx.xml and Beckhoff EL2xxx.xml files.
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Click with Right Button on "Bus structure" and select "Add...".
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So, what busses you have in "Bus structure -> Add" window?
Close your project again, go to Extras->DTM Catalog Management... and click "Search for installed DTM's". Check, if SYS-X44 will appear in left window. If yes, select them and move to Current DTM Catalog with ">>" button.
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1. You have to add Extension Bus to your EtherCat. Go to "Hardware" Tab on left side, right click on "Bus Structure" -> Add, select "Kuka Extension Bus (SYS-X44)" and ok.
2. Now you have to add your Beckhoff components, but first you have to load *.xml ESI description files. Download them from http://www.robot-forum.com/rob…ckhoff-esi-files-for-wov/ or from Beckhoff site.
3. Unzip archive
4. Save and close your project in WoV, then File->Import/Export->Import Device description file
5. Select EKxxxx, EL1xxx and EL2xxx files and load them, one by one
6. After that, open your project again
7. Now you can click on Kuka Extension Bus (SYS-X44) -> Ethercat (right-click) ->Add.. and add EK1100 device
8. Open EK1100 Device, then EBus, and add EL1809 and EL2809 devices. You should have structure as in screen below.
9. If you will do it all, you can open in "I/O Mapping" tab. Select "KRC I/O's" on left side and "Fieldbusses" on right. Now you can map EL1809 and EL2809 I/O's to Kuka. -
WHILE (NOT $IN[1])
PULSE($OUT[1], TRUE, 0.5)
WAIT SEC 1
ENDWHILETry this. I forgot that pulse is not stoping program till end of pulse.
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Try to add one more line:
WHILE (NOT $IN[1])
PULSE($OUT[1], TRUE, 0.5)
WAIT SEC 0.5
ENDWHILENow it should flash
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To be clear: you want to generate clock signal on output, till you are waiting for input? or maybe you want to set signal high and hold it, while waiting for input?
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By default, both inputs and outputs on wirst and Beckhoff I/O in KRC4 compact aren't mapped, so without it you aren't be able to use them and you will not have any voltage on outputs.
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If you're calling second program from other one, it is better to use Expert Modules (they don't have INI Fold) and to call them both from normal Module, which has INI fold.
For example, main program is a.src, it is normal module and has INI fold, and you have 2 subprograms (Expert Modules) b.src and c.src. And if you will use continuous motions in them, also if you call them from main program, they won't stop movement and advance run between two programs.
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You should refer to manual, section "Motion programming" and read about continous motions.
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Hello,
check pdf below, It should be clear, what is the meaning of all signals. -
Hello all,
our company bought used cell with LR Mate 200iB robot. As i know, robot wasn't working past over 5 years. I think that before I will bring it to work, it would be nice to replace grease in mechanical unit. I don't have maintenance manual for mechanical unit, so I would like to ask:
- what type of grease should I use?
- where are greasing points, and what amount of grease should I pump in?I will be very grateful for information, I think that this is not very difficult operation and I can do it with our mechanics.
Best regards,
Adam