Posts by DameS

Hello everyone.

I have KRC4 with KSS8.3 and KR360. When I make mastering on the robot, in the Mastery.log file is recorded FirstEncoderValue.
What is FirstEncoderValue and what is the connection with $ENCODER_RAW and $AXIS_ACT.
When I press Master $AXIS_ACT is set on $MAMES_ACT position, $ENCODER_RAW also changes the value.
I made several times mastering on the robot with gauge.

Date: SEP 16 2017 Time: 12:09:13 Axis 1 First Mastering by Gauge (FirstEncoderValue: 74.310150)
Date: SEP 16 2017 Time: 12:18:07 Axis 2 First Mastering by Gauge (FirstEncoderValue: 48.896027)
Date: SEP 16 2017 Time: 12:27:26 Axis 3 First Mastering by Gauge (FirstEncoderValue: 74.495541)
Date: SEP 16 2017 Time: 12:35:34 Axis 4 First Mastering by Gauge (FirstEncoderValue: 40.567017)
Date: SEP 16 2017 Time: 12:58:00 Axis 5 First Mastering by Gauge (FirstEncoderValue: 45.918856)
Date: SEP 16 2017 Time: 13:06:41 Axis 6 First Mastering by Gauge (FirstEncoderValue: 59.116776)
Date: NOV 03 2017 Time: 10:34:20 Axis 1 First Mastering by Gauge (FirstEncoderValue: 74.083558)
Date: NOV 03 2017 Time: 10:41:13 Axis 2 First Mastering by Gauge (FirstEncoderValue: 48.327485)
Date: NOV 03 2017 Time: 10:50:55 Axis 3 First Mastering by Gauge (FirstEncoderValue: 74.593049)
Date: NOV 03 2017 Time: 10:58:35 Axis 4 First Mastering by Gauge (FirstEncoderValue: 40.248413)
Date: NOV 03 2017 Time: 11:09:30 Axis 5 First Mastering by Gauge (FirstEncoderValue: 46.895256)
Date: NOV 03 2017 Time: 11:15:20 Axis 6 First Mastering by Gauge (FirstEncoderValue: 60.293741)

Also I want to know the difference in axis positions between two masterings.
How can I get this data?

Thank you in advance.

Quote from SkyeFire

When you do that test, where is the etalon located, relative to the robot? I would suggest performing this test with the etalon located at two different locations: one in front of the robot (etalon located near Y=0), and once to one side of the robot (X=0). This might help us narrow down which axis is the issue.

If you have a way to measure how far an axis rotates, I would suggest going through each axis, one at a time, jog it 90deg (on the teach pendant display), and measure the actual physical rotation of the axis.

I've already tried this with laser tracker, not on the etalon. When I measure near 'Y=0' and define coordinate system on the laser with 'x-z' plane on the robot. If I Jog only in 'X' or 'Z' direction i see no shifts(error) on other axes, but when I Jog in positive 'Y' direction shift on 'X' is very big(y=0 to 300mm, x=0 to 2,5mm) shift on 'Z' was very small (0.2mm i think).
After that I rotate only A1 axis for 90deg. Now I see no errors when I move 'Y' or 'Z', but when I Jog 'X' positive 300mm, shift on 'Y' was exactly the same 2.5mm(but on different axis).

Quote from SkyeFire

Well, that looks okay. I would check $TRAFONAME[] against the robot's data plate.

If you activate Tool 0 and Base 0, and jog the robot linearly, does it follow a straight line over long distances? Are the axes parallel to the $ROBROOT axes?

When I move robot in Tool 0 and Base 0 with jog, robot is following straight line on all axes but problem is in 'x' and 'y' axes on the robot. It seems they are not orthogonal. I try one experiment with granite etalon.
Etalon has a straight angle on it. On the flange i mount dial gauge. If I move the flange back and forth in 'x' direction and rotate the etalon while error on the dial gauge fall under 0.1 mm and then if I move the flange in 'y' direction i see big error on dial gauge.
On the picture Dial is on the z plain. When I move 'x' Dial is on 'y' plain.
Also if I calibrate for 'y' I see the same error when I move 'x'.

Quote from SkyeFire

Any robot with Absolute Accuracy needs to have the First Mastering (No Load) performed, then the Tech Mastering With Load performed, in sequence, and the associated LOAD_DATA values must be correct, or else AA is useless.
Still, AA will not result in a 30mm error while performing the 4pt Tool calibration. Do you have a minimum 45deg separation between each of the four points?
If you jog the robot to axes 0,-90,90,0,0,0, does the robot make an inverted L shape?
For such large TCP errors, poor mastering is most often the cause. Incorrect motor parameters can also cause this, but it would be hard for this to happen unless someone has been tampering with the system configuration files.

First Mastering is performed with no Load, after that is performed Teach Mastering With Load(That is performed from the previous operator who operate the robot).
I try to calibrate with 45deg separation between points but Kuka could not calculate, and error was astronomical.
If I Jog the robot to 0,-90,90,0,0,0 he is like an inverted L.

Mastery log file

Date: JUN 05 2017 Time: 11:03:55 Axis 1 First Mastering by Gauge (FirstEncoderValue: 52.793428)
Date: JUN 08 2017 Time: 15:46:23 Axis 1 First Mastering by Gauge (FirstEncoderValue: 54.628143)
Date: JUN 08 2017 Time: 15:51:20 Axis 2 First Mastering by Gauge (FirstEncoderValue: 6.757965)
Date: JUN 08 2017 Time: 16:02:45 Axis 3 First Mastering by Gauge (FirstEncoderValue: 42.591250)
Date: JUN 08 2017 Time: 16:14:25 Axis 4 First Mastering by Gauge (FirstEncoderValue: 40.285490)
Date: JUN 08 2017 Time: 16:34:55 Axis 5 First Mastering by Gauge (FirstEncoderValue: 61.347434)
Date: JUN 08 2017 Time: 16:42:41 Axis 6 First Mastering by Gauge (FirstEncoderValue: 67.117148)
Date: JUN 29 2017 Time: 14:10:26 Axis 1 First Mastering by Gauge (FirstEncoderValue: 53.334502)
Date: JUN 29 2017 Time: 14:38:57 Axis 1 First Mastering by Gauge (FirstEncoderValue: 53.334502)
Date: JUN 29 2017 Time: 14:42:32 Axis 1 First Mastering by Gauge (FirstEncoderValue: 56.810303)
Date: JUN 29 2017 Time: 14:49:57 Axis 1 First Mastering by Gauge (FirstEncoderValue: 52.890929)
Date: JUN 29 2017 Time: 15:19:34 Axis 1 First Mastering by Gauge (FirstEncoderValue: 53.432006)
Date: JUN 29 2017 Time: 15:26:57 Axis 2 First Mastering by Gauge (FirstEncoderValue: 7.529755)
Date: JUN 29 2017 Time: 15:35:25 Axis 3 First Mastering by Gauge (FirstEncoderValue: 43.677520)
Date: JUN 29 2017 Time: 15:41:19 Axis 4 First Mastering by Gauge (FirstEncoderValue: 34.495696)
Date: JUN 29 2017 Time: 15:49:27 Axis 5 First Mastering by Gauge (FirstEncoderValue: 61.679743)
Date: JUN 29 2017 Time: 16:04:22 Axis 6 First Mastering by Gauge (FirstEncoderValue: 69.933767)

I try rotation with Jogging and also with program, results are almost the same. Robot is equipped with an absolute accuracy package.
And I had used Dial mastering mode.
I don't understand why I need to use Reference mode.

$MAMES_ACT[]={A1 0.124672,A2 -89.9957733,A3 89.9865265,A4 0.00705800,A5 -0.0454720,A6 -0.0163620}

I've used manual dial gauge. For Axes 1,2,3 i can see that I'm in the 'v', for other axes first I've made bigger rotations back and forth to be sure that I'm in the 'v'.
Also after measurements, I made second mastering on all Axes and when I check in the mastering Log file results of first and the second mastering has been very similar.

For second question. No has not External Axes.

Hi.
KRC 4
KR360R2830 C4 FLR

I have a big problem with calibrating a new tool and finding TCP. I've tried a two methods (Numeric input and XYZ 4-point method) and none of them gave a good results.
First when I try XYZ 4-point method, I choose a points with different angles greater than 10deg on all rotations, but KUKA gave me a error 30mm. When I try with smaller and smaller angles the error began to decline. At the end I came to error of 0.4mm but the angles of rotations being on the edge of difference(very very small). After finding the TCP I use ABC 2-point method for defining the orientation. When I finish all procedures I've tried to rotate the TCP but the results are very bad. When I rotate A of the tool the error was 24mm for rotation of 180deg, for other rotations error was approximately the same.

Second method I've used was Numeric input. I enter All values for offsets, mass, moment of inertia from CAD. And then when I try to rotate A, I see almost none error, but when I rotate B error was aprox. 20mm for 180deg, for C is worse. Also it seems they rotate around different points.

Before all I've master all axes with dial gauge.
Robot
KRC 4
KR360R2830 C4 FLR

Hello,

i encountered a problem with my KRC4 extended controller, it shows the message "no more user memory available".

The controller is coupled with KR360 robot with 7 external axes.
We wanted to test if KUKA.cnc would work if we added up to 7 external motors, making total of 5 exes, such that two axes have 2 motors in master-slave mode.

After successfully activating about 10 configurations made in WoV, the controller stopped recognizing its files. It started to see all files as .txt files.
After seeing this, i restored files from my external HDD. Now KRC4 shows "no more user memory available" message.
I have to mention that during the process i installed and erased the screenshot app from orange apps: http://www.orangeapps.de/?page=apps/screenshot.

I ran a memory check on the PC of KRC4 and blue screen showed an error, attached.
Also i have attached images of the KRC4 showing the "no more user memory available" error.

thank you