Attached is the last version of the code I have tried. The file is PDF file with a view of what the path motion should be follow, the actual Kuka code both the DAT and SRC file and the settings in my $config.dat file. I have tried doing a number of different ways, Most often the positioner and linear rails are not moving. What is the suggestion on how I should change the variables in the config file?
Posts by NJPOrozco
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Thank you for all of your replies.
Attached is a video of the simulation on the actual part. The video does show a pause in forward travel motion when it rotates. I have done manual programming by touching up points. The rotation takes place over a short distance about 15 mm so in video it may seem like the same XYZ coordinates.
When I touch up the points the CP acceleration is set to 100%. Where would I increase orientation speed and acceleration?
Thank you..
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You can see from simulation I have attached that motión in X stops as head rotates. So from your reply the problem is that the angular change is too much over a a short distance.
Suggestions on how to program differently?
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I have a KRC4 Kuka controller with linear rail and 2-Axis Positioner.
I have a part I am trying to weld where path motion first start in +X horizontally, then there is a curvature so the weld joint transition from being horizontal to have a downward angular deflection of about 10 degrees, then a straight leg at the angle followed by an upward deflection so the joint is now horizontal. In order to weld this properly, when I reach the downward deflection point I need to change the TCP orientation so my welding torch rotated the 10 degrees about the Y-Axis. This way I keep the torch normal to the joint at all times.
I have tried circular and linear movements in the transition region and each time my TCP speed goes to almost 0 as the TCP orientation changes. When this happens my weld looks awful. I really need to change the orientation but keep the TCP moving in the X-Direction without changing speed.
Sketch below shows what I am trying to achieve. The TCP speed needs to remain constant as the torch orientation changes.
Any suggestions on how I can accomplish this?
Thank you - Nelson
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Thank you. I did find the problem. I had copied the programs from prior KRC4. ArcTech ArcON requires that the Job ID # be a unique number that was assigned to the exisitng robot. So I simply deleted the ARcon line and created a new. The system put in the correct Weld ID for me.
Thank you for your replies.
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I am having the same problems and since the posting is more than 500 days, I can not see the responses you have received. Can you send a summary of responses? Thank you