Posts by Robotmei

thanks guys,

it worked with D configuration, although according to the document the robot position is in accordance with the B settings.

you right DannyDJ

At first I thought that the robot doesn't move with the rail moving, but in fact the robot also has a slight movement (but not about the TCP point). although according to the manual i must have B setting, I have to change setting tomorrow with different transformations and i hope TCP stay fix with one configuratrion.

I defined again a perfect TCP. robot has perfect rotation about the defined TCP, but when I jog E1 in for example world coordinate with selected defined TCP, however I have movement in all seven axis but it seems i have no defined TCP and system can't maintain TCP at the fix point.

is there any additional setting for defining TCP for whole 7 axis?!

sure,

panic mode I have exactly the problem that you mentioned,

when i jog the robot in tool coordinate it seems robot don't see linear unit and i have movement just on six axes. in world coordinate when i jog E1 the movement is like the joint coordinate and i have movement just on E1 not in the rest of six axes.

i can't find related document. could somebody please share: "KUKA_5.6.2_configuration_of_kinematic_systems_en.pdf

according to the robot position on the linear unit i have used B setting:

$ET1_TA1KR={X 0.0,Y 0.0,Z 450.0,A 0.0,B 0.0,C -90.0}
$ET1_TA2A1={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
$ET1_TA3A2={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}
$ET1_TFLA3={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 90.0}
$ET1_TPINFL={X 0.0,Y 0.0,Z 0.0,A 0.0,B 0.0,C 0.0}

Hello all

KSS V5.6.2

I have a kuka robot on a linear unit that gives me seven synchronous axis. I have defined a TCP on the robot equipped with welding MIG torch.

my problem:

how can hold tcp on fix point and move robot+linear unit simultaneously about that point?

thanks for any help

hello all,

Is there a mastering tool in KUKA products that can master both KRC2 and KRC4?

thanks for any help

Hello all,

I have a kuka KR240 robot with a linear unit as the 7th axis. I am currently planning to add an 8th rotary axis to the system. Due to the large size of the linear axis drive (KSD1-48) and the lack of space, I have to place the rotary axis drive (KSD1-32) in an top mount cabinet.

My question is, can I use just one KPS600 inside the controller or do I have to put a second KPS600 in addition to the drive in the new cabinet?

thanks forany help

Perfect like always

Thanks panic mode

hello all,

KSS 5.6.2

with defining 16 inputs in robot with SIGNAL i can recieve positive values from PLC with BCD. how can I recieve minus values directly from PLC?

thanks for any help

Yes it was for different mounting on the KL ,It was on A-45 configuration and I changed to D configuration

Solved, many thanks

In MADA I changed A parameter of $robroot from 0 to different values like 90 but nothing changed.

@skyfire KR240 l180 with 10 meter linear unit, k.S.S 5.6.2 and Yes I have perfectly 45 rotation about vertical z axis.

How can I change this direction to the original world coordinate?

It seems second choice is more reasonable, i will try tomorrow

And I am totally sure the MADA is correct

Yes, i am jogging robot in world coordinate. I have mastered robot with EMT

Thank for reply MOM

I checked $ROBROOT,all values are zero.

My problem is : X and Y in world coordinate move with about 45 degree rotation about vertical Z axis.

It seems i must solve my problem by rotating base frame. If it is true, how can i do that?

I checked the values of $base_frame on variables, all have zero value.

Hello all,

I am working with a robot that the directions of X and Y coordinates is not normal and probably changed. How can I setup again to the original (standard) directions.

Thanks for any help.

Any idea?

KSS 5.6.2

WeaveTech V1.0.0

I have an Asynchron turn table and I want turn workpiece and robot oscillate in one fix coordinate. can somebody help please?

thanks for any help