Good to everyone again,
Thanks for your help with your answers.
Edited
In fact, the integrator who built the cell did the mastering as you can see in the 1nd image.
The answer to what appeared to be a wrong mastering, is that in the case of the KUKA robot after mastering, the robot will interpret axes 2 and 3 with the following degrees:
A2 = -90º (Quantec Model A2 = -90º)
A3 = +90º (Quantec Model A3 = +110º)
Grateful,
Rui.
Good morning everybody,
I am currently working with a KR 8 R2100-2 arc HW kuka robot. Its mastering was carried out by the robot integrator in the creation of the MIG-MAG welding cell. The robot is mounted on a rail (Axis E1) upside down.
The integrator mastered the robot with axes 2 and 3 in very different positions than indicated by the comparator's attachment points on the robot's axes.
My questions are:
1-Can this be done in kuka robot without compromising the good performance of the robot?
-Mastering posicion indicated by KUKA:
(all axes aligned with the comparator connection mark)
-Current mastering done by the integrator:
(A1=0º, A2=-90º, A3=+110º, A4=0º, A5=0º, A6=0º) (angle with respect to the measurement locations indicated on the robot arm for the comparator)
2-Can a mastering with deviations of more than 90º in relation to the positions marked by the kuka on the axes compromise the robot's ability to generate circles using instruction "CIRC ..."?
Greetings,
Rui.
