You're literally telling the robot to stick to this and only this, linear, direct path between two points by using a LIN move. That's why it will never move in a different direction unless you tell it to.
If you want it to avoid a singularity, use a PTP path, or rotate the axis manually to a position that doesn't cause a singularity before executing the LIN move.
Posts by Spirit532
-
-
Switching from VKRC2 to KRC2 requires major hardware changes, not just installing a different software.
-
Do a cold reboot, hold the shift key while the controller is booting. That should prevent KUKA software from starting.
-
Yes. It's basic factory automation, literally what the robot is designed for.
At the most basic level a LOOP/ENDLOOP block and some IO operations to detect whether a part is ready to be welded(endstop, some light curtains to prevent human interaction) should suffice.
From there you can explore AUT-EXT mode with external PLC input.Read the system integrator manual and expert programming manual, and for the love of spongebob, make sure it's safe. A robot running in auto is one of the most dangerous machines on a shop floor.
Also read the topic marked READ FIRST.
-
You have to kill all the KUKA-related processes before you run the installer.
-
andyRboot costs an absolute fortune, it's nowhere near "low cost". That, and Mimic for Maya does pretty much the same thing, but for free and 100% opensource.
-
Start with the "Motions with approximate positioning" chapter of the KRC2-KRC3 Expert Programming Manual. The rest is under that chapter, so just keep reading.
-
Due to how approximation is handled on KUKA motion controllers in general, $ADVANCE in combination CVEL will always result in inaccuracy, as with $APO.CVEL you're instructing the robot the maximum value it can deviate from the toolpath to maintain the same relative constant velocity, because if you made the robot make extremely sharp(point) turns at every position, you'd require close to an infinite amount of power, which I believe still breaks the laws of physics as of the latest KSS update
KUKA robots, and most other robots in general, have a massive flaw that differentiates them from machining-specific CNC devices(like mills), in that they can't slow down or speed up between points to predict a change in velocity unless you program it with a spline curve - at least that's been my experience.
Take a look and see if powermill can generate spline toolpaths - I believe KSS 5.4 should support splines.I may not be entirely correct, so your best bet is to read the manuals that explain this in detail with example images.
-
I see mention of the 30-minute demo mode, so I assumed it's not free
-
So... a much less documented and proven KUKAVARPROXY that supports modbus TCP.... that also costs money?
-
Any KCP1 is incompatible with anything other than KRC1. As far as I know VKCP2 and KCP2 are interchangeable, but you do need to swap a solder bridge inside to convert it from VW to Standard(clearly marked).
Call KUKA(their business hours support is free), give them your KRC's model number and they'll tell you which model number KCP you need. Just look for that on eBay or other places. -
You'll never be able to operate the KRC2 without a pendant, so it's best to just bite the bullet and get one.
-
Ignoring the fact that there's two identical ones literally right next to it( ), if a problem blew the varistor in such a dramatic fashion, it's probably a lot more than just it that is dead, and replacing it is likely to damage the system even further on startup.
-
No, it's not possible at all.
The hardware inside is entirely different. -
You just literally explained why it's failing.
Your base frame is set up incorrectly. -
Sounds like your robot is not mastered or your base frame is wrong.
-
Not sure I've ever seen a KUKA built this way, though.Many smaller Kuka bots(enclosed) have somewhat of an equivalent system - purge gas.
It's not exactly what you'd consider explosion proof(as it's primarily made for moisture), but if you push nitrogen or something similar through it(membrane separator, no need for tanks), it's good enough to be safe around paint.
My KR3(CRS F3 rebadge) has purge input next to the tool air line, as do some Denso bots. I'm not sure if it's an option on the Agilus ones, but they're mostly hermetically sealed regardless(especially the CR and WP versions). Some silicone grease stuffed into the connectors(internal included!) and it should be compliant.I should note though, that it's never positive pressure(at least in robots). There's always a flow somewhere. If there was a positive pressure anywhere within the robot, you could start counting hours until all the grease makes a swift exit through the gearboxes and onto the floor.
-
Seems like you don't have an absolute accuracy option on the robot and it's not mastered properly.
Try mastering again and see if things improve. -
Are you doing PTP moves?
PTP is not path-accurate, it goes for what the robot thinks is the fastest/most efficient route to the position. -
1. KR C4 is not a robot. Stop doing whatever you're doing and go actually learn what you are supposed to be doing by reading the manuals.
2. How do you expect a robot to do a full 360-degree rotation without crashing into itself? Just look at the robot and use common sense. Now look at the manual where it tells you exactly what it can do and its envelope.
3. Once you've read the manual, you'll know what the jog keys are for.Read the topic marked named READ FIRST