Posts by Ivanoff

    So my confusion comes from trying to make sense of the following attached specification for my robot. If I understand it correctly then the master for A2 would be 0. (it can't be -90 as that would be out of range)


    If I look at other specifications such as a KR16-2 then is having a A2 master at -90 is logical.


    Now do you see my problem Fubini or have I missed something?

    maybe I need to rephrase my question:


    In regards to the specification attached how do I utilize this information or is it completely unrelated to the configuration of the robot within KSS?

    looking at Panic's RoboDK model it's exactly as I would expect for a KR16-2 and for example the A2 range of motion is per the specification. (my question is does this hold true for say a KR15-2)


    I feel that I have reached the limit of my KUKA product understanding here while trying to reconcile the difference between the specification and what I would expect. I need to fine someone who has experience with the KR6-2 (KR15-2) family of robots so am leaning towards a support call with KUKA regarding this. (it's very confusing that there seems to be various KR6-2 models)


    To get me across the line with my students I am going to fit my RoboDK model to the software switch range of motion that the actual KRC2 is reporting to me and ignore the specification for now. If I discover that I have the wrong MADA config then this may change things.


    So my confusion comes from trying to make sense of the following attached specification for my robot. If I understand it correctly then the master for A2 would be 0. (it can't be -90 as that would be out of range)


    If I look at other specifications such as a KR16-2 then is having a A2 master at -90 is logical.


    Now do you see my problem Fubini or have I missed something?

    I have been setting up a KRC2 with a KR6-2 (the one that is the smaller model of the KR15-2). We are in the process of setting up RoboDK to simulate our system in our lab, I have created a robot model in RoboDK and defined the kinematics as per the details outlined on the product specification (for example A2 -55 to +115 and the home position I would expect to be 0 deg). I however can not seem to find a config for this robot in the MADA library that matches what I would expect for my hardware.


    The only KR6-2 config appears to be for the more common model of this robot where A2 has a range -155 to +35 and a home position of -90.


    I am running KSS 4.1.7 SP4.0 so I went looking at the other configs for model such as KR2-15, I noted that for this model $MAMES[2]=-90.0 in the machine.dat so clearly I am missing something here as I would have expected this to be 0 if I am reading the specification correctly?


    Maybe I have an odd model of robot or some out of date MADA data on my distribution media? Do I need to source the robots MADA config from somewhere specific or am I making poor assumptions based on the specification data in the KUKA pdf while I'm configuring my RoboDK simulation.


    Any advice to point would be most welcome, regards Ivan

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