ok, our mistake was teaching 3 point calibration for the grid frame. The grid we have uses a fiducial so we needed to train the frame using a 4 point calibration. The camera also automatically detects the fiducial and sets it as the origin.
That seemed to have fixed the problem.
Our team was able to resolve issue with pr offsets by setting system variable $OFFSET_CART = False
We found this post that describes a confusion on the definition of $OFFSET_CART:
However it still rotates around frame origin with a VR offset
in the vision operator manual the variable $OFFSET_CART should be set to TRUE in order for the Cartesian coordinates to be read as XYZWPR instead of as frames for pre-multiplying. Neither setting changes the behavior.
Use tool offset for R, and offset for X, Y, Z.
Probably behavior is because offset rotates around origin of uframe.
Yes, that is what it looks like it is doing. The problem is I need to use voffset as this is a irvision application. I have used scara and irvision before and have never seen robots rotating around user origin before. In fact the program is a copy from another robot where voffset is rotates j4 with offset in r not around origin.
Hello all
I have a problem I haven't seen before. I have a SR-6iA scara robot with r30ib compact plus controller. When ever I apply an offset in the r coordinate i expect only the j4 axis to move, but for some reason all my axis move. It almost like it thinks there is a tcp that it is trying to rotate around. But I have tool tcp at zero for x,y,w,p,r and for z=150. When I jog, in user frame and same tool selected, around z axis only the J4 moves as expected. But for some reason offsets don't seem to work as I expect.
Some more testing
When i use the world frame and do an offset in R it rotates only j1
A tool offset produces the expected results with only j4 rotating, but I need to use a frame offset as I need to offset in x and y in the same move.
Any ideas?
when installing packages, it is not just that new files are added - also bunch of existing files get modified. among them are also files that contain inline forms data.
so if you are installing tech option not designed for your KSS, then this installation process will alter such files. even if you uninstall it, the change may not be reversed correctly. this is why it is strongly advised to make a backup of the HDD before making changes, specially if they are invasive like installing or uninstalling tech options.
but... TC4.1 is meant for KSS8.2 and 8.3. and license applies to first two numbers in the TC version (it does not differentiate between 4.1.4 and 4.1.9). So if you have valid license for TC4.1, you can install newer version.
Since the corruption was already there, you need to restore HDD from a known good backup of that robot.
Hey thanks, this post helped me dig a little further, just want to wrap up with some context. I found out the robots at this facility here have a custom tech option installed, as part of their standard, a small part of that package involves modification of the inline forms data. So after installing the ServoTech package it changes the structures of the ptp move in the config file which no longer matches the inline form data created by the custom tech package.
Krc version: 8.3.27
I initially tried installing ServoGun TC 4.1.9
Then I checked another controller with same krc version and has servogun TC working, It was ServoGun TC 4.1.4 so I assumed it was compatibility issue and proceeded to install that ServoGun TC 4.1.4 but still received the same error.
Currently, I ended up going back to ServoGun TC 4.1.9 which we initially purchased and received from kuka for this robot and just manually edited the config file to have the same structures. So far we have the servo gun working with no other issues.
I don't know what is corrupted? both installations from kuka and the robot that is working gave the same results 
Probably a corrupt installation. Restore from last valid backup. I think structures defined in config.dat do not fit to your installed krc version or a specific tech package you are using.
There are version dependencies and we do not even know what system you have. Please try to follow advice stated in forum read first.
Fubini
thanks, found out the PTP structure did not match after installing the tech package. I ended up copying the same structure from the robot I got the tech package from.
I did create a new expert module and tried, but experienced the same results. This happens in all modules aswell. I also noted that I cant use LIN movement when adding a CONT option, I recieve the same error.
Do you want me to post a new module on here?
Kuka managed to get me the catalog I needed. Unfortunate that it doesnt come with the ServoGun_TC option to begin with.
Hello
Still very new to kuka, I am unable to add PTP point to a new module that I created. Every time I press cmd ok I get a "component not of this type" , "Redeclfailed" and "SetVarFailed" messages.
Iam able to add lin and circ points however
any ideas
ok appreciate the response, I will contact them.
Also is there a way to create a generic gun?
thanks
Hello
I am having trouble with setting up servogun_tc option. I am not able to find the gun motor in the catalog section under servogun_tc. The servo motor is a Tolomatic, I have searched their website and also not able to find the .afc file to load into workvisual. Any one have idea as to my next steps?
Thanks
Display MoreHi,
do you have Fanuc iRVision camera, or other brand?
What values do you get, X,Y,rZ or more?
If you have camera parallel with working TCP, then most time is enough use TOOL_OFFSET.
You make picture, set it as zero value, then teach pick up position. For next picture you store camera values in PR and use it for offset.
If you get absolute position values, then you need to use (base) OFFSET.
Also depends on the application, maybye you can tell us more details.
Hello
-I have a Cognex camera, no iRvision.
-Application is only required to pass X,Y co-ordinates
In my application I have a 5x5 rack, each position in the rack has 3 mating features for the 3 parts the robot is holding. I need to locate X,Y position of the feature and place each part. Once I place one of the parts I cannot move back to take another image because each part the robot is holding is connected together with a harness. So I need to take 3 images and get 3 offsets to place each part. I was thinking I would teach 3 positions in the first shelf of the rack and call this zero position, meaning all other positions would be an X,Y offset of the taught positions. I have UF[1] that lines up with the rack and have taught my "zero" positions in this frame. Correct me if I am wrong, the offsets I get from the camera will be relative to the tool frame at the position the image was taken. If I apply the offsets as tool offset to the "Zero" positions it would be relative to the orientation the zero positions were taught in and not to the camera position.
I was hoping to be able to transform the camera offsets so it is relative to the UF[1] frame.
Hello
I have a camera mounted on my EOAT. It provides offsets of my target object to the robot via plc. I have created a tcp to be aligned with my camera's coordinate system.
I am having a hard time wrapping my head around how to apply the offsets provided by my camera so it is relative to my current user frame. I have the vision support tools option which has the Inverse and Matrix programs just not sure how to transform the offsets from the camera so it is relative to my user frame.
Any help would be appreciated, thanks
Great, that is what i was looking for
thanks
Hello
Fairly new to Kuka, wanted to know if there is a way to view the installed options from a KRC4 controller backup?
I am trying to determine what version of the ServoGun TC is installed.
I have tried to restore onto Officelite, but I get an error saying "mixed options installed. Install restored options manually and activate the project".
Your support is much appreciated.
thanks
I am not to worried, the forces being used are quiet low and we only had to adjust collision detect sensitivity a bit to be able to push down on the part. I just want to be able to measure the force being used
Hello
I have an application using a SR-6ia to push nut insert into a part. I need to be able to send an estimate of the force used to push the insert into the part.
I was looking into using MISC[1].$HPD_TRQ[3] which is the disturbance torque, but from what i understand, this is a percentage of the total torque of servo.
What system variable should i be looking at to find the total torque on the servo, so i can use the MISC[1].$HPD_TRQ[3] value to calculate the torque used to push the insert.
thanks
